add skill launch, refactor pick-place pose loader

rbs_bringup/launch/bringup.launch.py

@@ -9,6 +9,7 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
+# from rbs_launch_utils.launch_common import load_yaml_abs
 
 def generate_launch_description():
     declared_arguments = []
@@ -192,7 +193,7 @@ def generate_launch_description():
     )
 
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare("rbs_bringup"), "config", "fork_view.rviz"]
+        [FindPackageShare("rbs_bringup"), "config", "rbs.rviz"]
     )
     
     mujoco_model = PathJoinSubstitution(
@@ -310,6 +311,24 @@ def generate_launch_description():
             'robot_description_semantic': robot_description_semantic_content
         }.items(),
         condition=IfCondition(launch_moveit))
+
+    skills = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            PathJoinSubstitution([
+                FindPackageShare('rbs_skill_servers'),
+                'launch',
+                'skills.launch.py'
+            ])
+        ]),
+        launch_arguments={
+            'robot_description': robot_description_content,
+            'robot_description_semantic': robot_description_semantic_content,
+            'robot_description_kinematics': robot_description_kinematics,
+            'use_sim_time': use_sim_time,
+            'with_gripper_condition': with_gripper_condition,
+            'points_params_filepath': "gripperPositions.yaml"
+        }.items()
+    )
     
     task_planner = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
@@ -343,6 +362,7 @@ def generate_launch_description():
         control,
         simulation,
         moveit,
+        skills,
         task_planner,
         perception
     ]