Fix robot.py move.cpp and launcher

Author: Jepear19

Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/python/robot/robot.py

@@ -112,7 +112,7 @@ class MoveCLIENT(Node):
     def __init__(self):
 
         super().__init__('ros2srrc_Move_Client')
-        self._action_client = ActionClient(self, Move, 'move_action')
+        self._action_client = ActionClient(self, Move, 'Move')
 
         print("[CLIENT - robot.py]: Initialising ROS2 /Move Action Client!")
         print("[CLIENT - robot.py]: Waiting for /Move ROS2 ActionServer to be available...")

Industrial/ros2_SimRealRobotControl_gz/ros2srrc_execution/src/move.cpp

@@ -492,7 +492,7 @@ int main(int argc, char ** argv)
 
     // ROBOT
     if (param_ROB != "none"){
-        std::string group_name = "manipulator";
+        std::string group_name = "ur5_arm";
 
         move_group_interface_ROB = MoveGroupInterface(node2, group_name);
         move_group_interface_ROB.setPlanningPipelineId("move_group");

Launchers/pick_place_harmonic/pick_place_harmonic.launch.py

@@ -199,8 +199,18 @@ def generate_launch_description():
     move_node = Node(
         package="ros2srrc_execution",
         executable="move",
-        output="both",
-        parameters=common_params,
+        output="screen",
+        arguments=['--ros-args', '--log-level', 'debug'],
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            moveit_controllers,
+            {"moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"},  # 👈 ESTE ES EL FIX
+            {"use_sim_time": True},
+            {"ROB_PARAM": "ur5"},
+            {"EE_PARAM": "robotiq_2f85"},
+        ],
     )
 
     robmove_node = Node(
@@ -222,6 +232,17 @@ def generate_launch_description():
         actions=[spawn_robot],
     )
 
+    delayed_execution_nodes = TimerAction(
+        period=10.0,
+        actions=[
+            ExecuteProcess(cmd=["echo", ">>> LAUNCH: intentando lanzar move_node"]),
+            move_node,
+            robmove_node,
+            robpose_node
+        ],
+    )
+
+    print(">>> LAUNCH: move_node configurado")
 
     return LaunchDescription([
 
@@ -230,8 +251,7 @@ def generate_launch_description():
         clock_bridge,
         delayed_spawn,
         delayed_joint_state_broadcaster,
-
-        
+        delayed_execution_nodes,
 
         RegisterEventHandler(
             OnProcessExit(
@@ -247,7 +267,6 @@ def generate_launch_description():
             )
         ),
 
-        # MoveIt after controllers
         RegisterEventHandler(
             OnProcessExit(
                 target_action=gripper_controller,
@@ -259,17 +278,4 @@ def generate_launch_description():
                 ],
             )
         ),
-
-        # Action servers AFTER MoveIt
-        RegisterEventHandler(
-            OnProcessExit(
-                target_action=gripper_controller,
-                on_exit=[
-                    TimerAction(
-                        period=4.0,
-                        actions=[move_node, robmove_node, robpose_node],
-                    )
-                ],
-            )
-        ),
     ])