Fix service namespace issues. add checks. picking works again.

src/ccf/controller/MoveItRobotArmController.cpp

@@ -32,7 +32,13 @@ void MoveItRobotArmController::updateScene(ccf::SceneUpdateRequest &req) {
         } else {
             ccf::BinCheck srv;
             srv.request.id = req.ids[i];
-            bin_check_client.call(srv);
+
+            if (!bin_check_client.call(srv)) {
+                ROS_ERROR_STREAM("[MoveItRobotArmController] "
+                                 "Unable to call " << bin_check_client.getService() <<
+                                                   ". It " << (bin_check_client.exists() ? "exists" : "it does not exist")
+                                                   << ". Assuming each object is a BOX.");
+            }
 
             if (srv.response.isBin) {
                 object->set_type(Object_Type_BIN);
@@ -98,7 +104,13 @@ bool MoveItRobotArmController::pickAndDrop(Object &robot, Object &object, Object
     ccf::PickDropService srv;
     srv.request.object = object.id();
     srv.request.bin = bin.id();
-    pick_drop_client.call(srv);
+    if (!pick_drop_client.call(srv)) {
+        ROS_ERROR_STREAM("[MoveItRobotArmController] "
+                         "Unable to call " << pick_drop_client.getService() <<
+                                           ". It " << (pick_drop_client.exists() ? "exists" : "it does not exist")
+                                           << ".");
+        return false;
+    }
 
     // we explicitly do not remove the object right now, so we do not call the super method
     return true;
@@ -120,7 +132,13 @@ bool MoveItRobotArmController::pickAndPlace(Object &robot, Object &object, Objec
     srv.request.pose.position.x = location.pos().x();
     srv.request.pose.position.y = location.pos().y();
     srv.request.pose.position.z = location.pos().z();
-    pick_place_client.call(srv);
+    if (!pick_place_client.call(srv)) {
+        ROS_ERROR_STREAM("[MoveItRobotArmController] "
+                         "Unable to call " << pick_place_client.getService() <<
+                                           ". It " << (pick_place_client.exists() ? "exists" : "it does not exist")
+                                           << ".");
+        return false;
+    }
 
     // we explicitly do not move the object right now, so we do not call the super method
     return true;
@@ -129,10 +147,10 @@ bool MoveItRobotArmController::pickAndPlace(Object &robot, Object &object, Objec
 
 MoveItRobotArmController::MoveItRobotArmController(ros::NodeHandle &nodeHandle, const std::string &cellName)
         : RobotArmController(nodeHandle, cellName),
-          pick_drop_client(nodeHandle.serviceClient<ccf::PickDropService>("/pick_drop_service")),
-          pick_place_client(nodeHandle.serviceClient<ccf::PickPlaceService>("/pick_place_service")) {
+          pick_drop_client(nodeHandle.serviceClient<ccf::PickDropService>("/scene_controller/pick_drop_service")),
+          pick_place_client(nodeHandle.serviceClient<ccf::PickPlaceService>("/scene_controller/pick_place_service")) {
 
-    bin_check_client = nodeHandle.serviceClient<ccf::BinCheck>("/check_bin_service");
+    bin_check_client = nodeHandle.serviceClient<ccf::BinCheck>("/scene_controller/check_bin_service");
     get_scene_service = nodeHandle.advertiseService<ccf::SceneUpdateRequest, ccf::SceneUpdateResponse>(
             "updateCgvScene",
             [this](auto &req, auto &res) {

src/ccf/util/scene_controller_node.cpp

@@ -804,7 +804,7 @@ int main(int argc, char **argv) {
                                                                    boost::bind(&manualScenePush, _1,
                                                                                boost::ref(n)));
 
-    ros::ServiceServer service = n.advertiseService("/check_bin_service", checkBin);
+    ros::ServiceServer service = n.advertiseService("check_bin_service", checkBin);
 
     ros::ServiceServer pick_drop_service = n.advertiseService<ccf::PickDropService::Request, ccf::PickDropService::Response>(
             "pick_drop_service",