split and sort launch file

rbs_task_planner/launch/task_planner.launch.py

@@ -38,7 +38,10 @@ def generate_launch_description():
     pkg_dir = get_package_share_directory('rbs_task_planner')
     bt_exec_dir = get_package_share_directory('rbs_bt_executor')
     namespace = LaunchConfiguration('namespace')
-
+    assemble_dir = os.path.join(
+        get_package_share_directory("rbs_task_planner"), "example", "sdf_models"
+    )
+    
     declare_namespace_cmd = DeclareLaunchArgument(
         name="namespace",
         default_value='',
@@ -66,11 +69,22 @@ def generate_launch_description():
             'bt_xml_file': bt_exec_dir + '/bt_trees/assemble.xml',
           }
         ])
-    ld = LaunchDescription()
-    ld.add_action(declare_namespace_cmd)
 
-    # Declare the launch options
+    assemble_state = Node(
+        package="rbs_skill_servers",
+        executable="assemble_state_service_server",
+        output="screen",
+        parameters=[
+            {'assemble_prefix': 'ASSEMBLE_'},
+            {'assemble_dir': assemble_dir}
+        ]
+    )
+    ld = LaunchDescription()
+    # Args
+    ld.add_action(declare_namespace_cmd)
+    # Nodes
     ld.add_action(plansys2_cmd)
     ld.add_action(assemble)
+    ld.add_action(assemble_state)
 
     return ld