- **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.
- **Added support for assembly configuration in `rbs_bringup` and `rbs_robot` launches**:
- Introduced new launch arguments: `use_rbs_utils` and `assembly_config_name`.
- Integrated `rbs_utils`'s `utils.launch.py` for handling assembly configurations.
- **Simplified `skills.launch.py`**:
- Removed redundant `assembly_config` node setup.
- **Enhanced `rbs_utils`**:
- Added installation of `launch` files in `CMakeLists.txt`.
- Created a new `utils.launch.py` for dynamically loading assembly configurations.
- Refactored `assembly_config_service.py` to utilize `get_asm_config` for streamlined configuration file resolution.
- Improved `rbs_bringup` setup to include additional parameters and nodes for assembly configuration.
These changes centralize assembly configuration handling and enhance modularity across launch setups.
- Unified `base_link` and `ee_link` parameter usage across launch files and skill server components.
- Improved synchronization in `mtjs_jtc` and `mtp_jtc` with a timeout mechanism for joint position updates, adding error handling when data is unavailable.
- Extended `AssemblyConfigService` to broadcast TF transforms for relative parts during initialization.
- Enhanced YAML parsing for `AssemblyConfigService` to handle missing orientations with default values.
- Updated `mtp_jtc_cart` to align parameter names with other skill server components.
- Added single-threaded executor to `AssemblyConfigService` for better lifecycle management.
