yaml2mtc cant handle 2 robs, changed plan, now mtc is fully implemented with 2 robs

.catkin_tools/profiles/default/devel_collisions.txt

 /home/matteo/ws_panda/devel/./cmake.lock 42
-/home/matteo/reachability/devel/./cmake.lock 21138
+/home/matteo/reachability/devel/./cmake.lock 21925
 /home/matteo/reachability/devel/lib/libmoveit_grasps.so 79
 /home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 79

src/.vscode/c_cpp_properties.json

@@ -39,7 +39,8 @@
                 "${workspaceFolder}/mtc/src",
                 "${workspaceFolder}/yaml_to_mtc/include",
                 "${workspaceFolder}/moveit_task_constructor/core/include",
-                "${workspaceFolder}/moveit_task_constructor/"
+                "${workspaceFolder}/moveit_task_constructor/",
+                "${workspaceFolder}/object_creator/include"
             ],
             "name": "ROS",
             "cStandard": "c17",

src/mtc/include/impl/moveit_robot.h

@@ -8,7 +8,7 @@
 class Moveit_robot : public Robot{
     protected:
     moveit::planning_interface::MoveGroupInterface* mgi_;
-    std::map<std::string, std::pair <std::string, std::string>>  map_; 
+    std::map<std::string, std::string>  map_; 
 
 
 
@@ -16,26 +16,21 @@ class Moveit_robot : public Robot{
     public:
     Moveit_robot(std::string& name, tf2::Transform tf, tf2::Vector3 size) : Robot(name, tf, size){
         mgi_ = new moveit::planning_interface::MoveGroupInterface(name);
-        std::stringstream group, eef, hand_grasping_frame, ik_frame, hand, hand_n, ik_frame_n, name_n;
+        std::stringstream hand_n, ik_frame_n, name_n;
         name_n << name;
-        group << "group_" << name;
-        eef << "eef_" << name;
-        hand_grasping_frame << "hand_grasping_frame_" << name;
-        ik_frame << "ik_frame_" << name;
-        hand << "hand_" << name;
         hand_n << "hand_" << name.back();
         ik_frame_n << "panda_" << name.back() << "_link8";
 
 
-        map_.insert(std::make_pair<std::string, std::pair<std::string, std::string>>("group", std::make_pair<std::string, std::string>(group.str(), name_n.str())));
-        map_.insert(std::make_pair<std::string, std::pair<std::string, std::string>>("eef", std::make_pair<std::string, std::string>(eef.str(), hand_n.str())));
-        map_.insert(std::make_pair<std::string, std::pair<std::string, std::string>>("hand_grasping_frame", std::make_pair<std::string, std::string>(hand_grasping_frame.str(), ik_frame_n.str())));
-        map_.insert(std::make_pair<std::string, std::pair<std::string, std::string>>("ik_frame", std::make_pair<std::string, std::string>(ik_frame.str(), ik_frame_n.str())));
-        map_.insert(std::make_pair<std::string, std::pair<std::string, std::string>>("hand", std::make_pair<std::string, std::string>(hand.str(), hand_n.str())));
+        map_.insert(std::make_pair<std::string, std::string>("group", name_n.str()));
+        map_.insert(std::make_pair<std::string, std::string>("eef", hand_n.str()));
+        map_.insert(std::make_pair<std::string, std::string>("hand_grasping_frame", ik_frame_n.str()));
+        map_.insert(std::make_pair<std::string, std::string>("ik_frame", ik_frame_n.str()));
+        map_.insert(std::make_pair<std::string, std::string>("hand", hand_n.str()));
     }
 
     inline moveit::planning_interface::MoveGroupInterface* mgi() {return mgi_;}
-    inline std::map<std::string, std::pair <std::string, std::string>>&  map(){return map_;};
+    inline std::map<std::string, std::string>&  map(){return map_;};
 
 
 };