Seperate one file into modules

[lily983]

Current node panda_grasp_handle_server.cpp does everything for every task. It includes:

• Interacts with the planning scene(add/remove collision mesh)
• Reads the Alvar tag on the handle, converts to pre-grasp/grasp/post-grasp key poses
• Control the Franka arm

The node requires changes for every task and is hard to manage. I want to break it into modules and let each module handle different things. Modules include:

• Planning scene operation [class]: add/remove collision scene mesh, add/remove collision object mesh, display trajectory on moveit
• Robot arm [class]: planning to joint/pose target from current/given start joint configuration
• Task node: sequential actions for each task

[ruansp]

Good ideas. Can also try this to manage multiple tasks in sequence. We might also add in the revised version of the paper or video if it works well.

[lily983]

Sure. It looks like a generalized framework.