Instead of unilaterally sending topics to the simulator ROS interface to execute actions or task plans, this PR uses a proper action interface.
There are probably more things to implement in this fashion in the example, as well as more state tracking (e.g., publishing feedback), but we'll start with this.
Instead of unilaterally sending topics to the simulator ROS interface to execute actions or task plans, this PR uses a proper action interface.
There are probably more things to implement in this fashion in the example, as well as more state tracking (e.g., publishing feedback), but we'll start with this.
Closes #172