plansys2: initialize move group interface

rasms_manipulator/launch/rasms_manipulation.launch.py

@@ -22,6 +22,16 @@ def generate_launch_description():
     stdout_linebuf_envvar = SetEnvironmentVariable(
         'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
 
+    plansys2_cmd = IncludeLaunchDescription(
+      PythonLaunchDescriptionSource(os.path.join(
+        get_package_share_directory('plansys2_bringup'),
+        'launch',
+        'plansys2_bringup_launch_monolithic.py')),
+        launch_arguments={
+          'model_file': pkg_dir + '/pddl/domain.pddl',
+          'namespace': namespace
+        }.items())
+
     move_1 = Node(
         package='plansys2_bt_actions',
         executable='bt_action_node',
@@ -32,6 +42,8 @@ def generate_launch_description():
           pkg_dir + '/config/params.yaml',
           {
             'action_name': 'move',
+            'publisher_port': 1668,
+            'server_port': 1669,
             'bt_xml_file': pkg_dir + '/behavior_trees_xml/move.xml'
           }
         ])
@@ -40,8 +52,9 @@ def generate_launch_description():
 
     ld.add_action(stdout_linebuf_envvar)
     ld.add_action(declare_namespace_cmd)
-    
+
     # Declare the launch options
+    ld.add_action(plansys2_cmd)
     ld.add_action(move_1)
   
     return ld