Changes to work with GraspProvider

[marcpujol-leitat]

Hello @bostoncleek

Leaving here the changes I've made. It compiled but it's still not working.

I have been testing a bit with the gpd demo and it gets stuck in the task planning phase. The good part is that it looks like it generates the grasps.

Thank you very much for your help!

[bostoncleek]

@marcpujol-leitat Can you get this to a state where it compiles? What is your development environment?

[marcpujol-leitat]

Hello @bostoncleek,

Yes, it compiles but gets stuck after creating the grasps. The task is not executed after chosing the grasp candidates.

Someone in the issue that I opened in the moveit_task_constructor depo mentioned that the problem is solved by removing a mutex lock here, but I have not tried yet.

[bostoncleek]

Perhaps there is a deadlock. This is my fault. I will get these fixed just need a little bit of time.

[marcpujol-leitat]

Great, thank you very much!