Hi all,

I'm working on the programming of functionality of my robot, basically, pick&place and door_opening. But I'm not sure how to make the whole packages more modularized.

For example, I have a node (a single cpp file) for pick&place including moving base, moving arm, moving gripper, solving ik. Within this node, the moveit movegroups for arm, base, gripper are created, some parameters such as the name of eef are also loaded. For the dooropening node, the movement of base,arm, gripper are also needed. And If I use the state machine or behavior tree, in each subaction such as approaching door, grasping the handle, unlatching I have to create these move group and load the parameters again, which causes a lot of redundancy.

Is there any book or website or complete codes that can be reference? I noticed that pr2 may make the ik as ros service, base, arm, gripper move as ros actions. But I can't find the full pr2 codes, some are deprecated and cannot be used for ros kinetic.

Thanks for any help!