- Added `GetPlacePose` skill client library and associated service node to handle place pose retrieval, including preplace and postplace poses.
- Created new behavior trees (`pick_and_place.xml`, `place_object.xml`) for handling pick-and-place operations with enhanced modularity.
- Updated `AssemblyConfig` to include `place_poses` alongside `grasp_poses`, improving flexibility in assembly workflows.
- Refactored YAML parsing and codebase to differentiate between `grasp_poses` and `place_poses` for better clarity and maintainability.
- Updated related XML behavior tree nodes, scripts, and skill structures to integrate `GetPlacePose` functionality.
- Adjusted gripper command maximum effort to `3.0` for improved control.
- Added a new message definition for `GetPlacePose` service in the `rbs_utils_interfaces` package.
- Updated CMakeLists.txt to include the new service and ensure proper build configuration.
- Improved `get_grasp_pose_callback` with regex for grasp pose matching and added fallback mechanisms for `pregrasp_pose` and `postgrasp_pose`.
- Introduced `_create_pose_msg` and `_create_pose_msg_from_name` helper functions for dynamic transform-to-pose conversion.
- Updated `GetGraspPose.srv` to include `pregrasp_pose` and `postgrasp_pose` in the service response structure.
- Enhanced TF listener integration in `assembly_config_service.py` for dynamic pose retrieval and parameter management.
- Added `rbs_utils_interfaces` dependency in `CMakeLists.txt` and introduced new `GetGraspPose` node for behavior tree integration.
- Replaced `MoveGripper` with `GripperCommand` to improve gripper state transitions.
- Refactored `MoveToPose` and `GetWorkspace` nodes for enhanced logging and parameter handling.
- Updated `workspace_movement.xml` and `grasp_object.xml` with improved actions and configurations.
- **CMakeLists.txt**:
- Commented out the unused `rbs_env_manager_starter` library.
- **Behavior Trees**:
- Added new `grasp_object.xml` behavior tree for grasping operations.
- Modified `test_tree.xml` to update `robot_name` in the `WorkspaceMovement` subtree.
- **Source Code Updates**:
- Removed `EnvManager.cpp`, deprecating its functionality.
- Formatting `GetWorkspace.cpp`
- Formatting `MoveGripper.cpp`
- Formatting `MoveToJointStates.cpp`
- Formatting `PoseEstimation.cpp` and `TreeRunner.cpp`
- **Assembly Config Service**:
- Added broadcasting for grasp pose transformations in `assembly_config_service.py`.
These updates enhance modularity, maintainability, and the overall functionality of the behavior tree executor.
- Removed `assembly_config_service.py` node from launch configuration.
- Added default `goal.duration` setting to `MoveToPose` and `MoveToPoseArray`.
- Replaced `timeout_seconds` with `duration` in action definitions for `MoveitSendJointStates` and `MoveitSendPose`.
- Removed dependencies on TinyXML2 and Gazebo/SDFormat, adding `controller_manager_msgs` and `control_msgs` to CMake configuration.
- Added new action servers `cartesian_move_to_pose` and `move_to_joint_states`, registering them in CMakeLists file.
- Introduced `SkillBase`, a template class for managing action-based skills, providing essential ROS 2 action server support and functionalities for handling goals, cancels, accepted actions, and controller management.
- Implemented methods to load, configure, and switch required controllers with conflict detection for active controllers, along with parameter checking and asynchronous handling for required parameters.
- Enhanced error handling for missing controllers, parameters, and resource conflicts.
- Updated `skills.launch.py` to utilize `ComposableNodeContainer` for skill nodes, incorporating `MoveToJointStateActionServer` and `CartesianMoveToPose` as composable nodes.
- Changed the executable name in `cartesian_move_to_pose_action_server` node configuration.
- Added `cartesian_move_to_pose.cpp`, implementing the `CartesianMoveToPose` action server, including trajectory interpolation, pose adjustment, and controller management.
- Updated `package.xml` to include `rclcpp_components` dependency.
- Refactored `MoveToJointStateActionServer` to extend `SkillBase`, leveraging `FollowJointTrajectory` for joint trajectory execution, while removing redundant code and dependencies.
- Implemented trajectory generation based on initial and target joint positions with parameterized interpolation for smoother execution, enhancing joint state handling to dynamically align current and target joint values.
