From a7d6dc12ce38e6af3b5c307a45cf287dad0828a9 Mon Sep 17 00:00:00 2001
From: Chance Cardona <41308677+chancecardona@users.noreply.github.com>
Date: Mon, 10 Jun 2024 09:53:10 -0600
Subject: [PATCH] Add ShapeCompletion Action (#52)

---
 .../moveit_studio_vision_msgs/CMakeLists.txt       |  1 +
 .../action/ShapeCompletion.action                  | 14 ++++++++++++++
 .../moveit_studio_vision_msgs/package.xml          |  4 ++--
 3 files changed, 17 insertions(+), 2 deletions(-)
 create mode 100644 moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action

diff --git a/moveit_studio_msgs/moveit_studio_vision_msgs/CMakeLists.txt b/moveit_studio_msgs/moveit_studio_vision_msgs/CMakeLists.txt
index 2c40360..059aaf4 100644
--- a/moveit_studio_msgs/moveit_studio_vision_msgs/CMakeLists.txt
+++ b/moveit_studio_msgs/moveit_studio_vision_msgs/CMakeLists.txt
@@ -30,6 +30,7 @@ set(msg_files
 
 set(action_files
   "action/GetMasks2D.action"
+  "action/ShapeCompletion.action"
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
diff --git a/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action b/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action
new file mode 100644
index 0000000..6fa7323
--- /dev/null
+++ b/moveit_studio_msgs/moveit_studio_vision_msgs/action/ShapeCompletion.action
@@ -0,0 +1,14 @@
+# Goal 
+
+# Point cloud to complete
+sensor_msgs/PointCloud2 partial_pointcloud
+
+# Model parameters. Stored as key-value pairs as they can be specific to the model selected.
+moveit_studio_sdk_msgs/BehaviorParameter[] parameters
+
+---
+# Result
+sensor_msgs/PointCloud2 complete_pointcloud
+
+---
+# Feedback
diff --git a/moveit_studio_msgs/moveit_studio_vision_msgs/package.xml b/moveit_studio_msgs/moveit_studio_vision_msgs/package.xml
index 1602deb..56fa68e 100644
--- a/moveit_studio_msgs/moveit_studio_vision_msgs/package.xml
+++ b/moveit_studio_msgs/moveit_studio_vision_msgs/package.xml
@@ -2,8 +2,8 @@
   <name>moveit_studio_vision_msgs</name>
   <version>3.0.0</version>
   <description>Messages, services, and actions used by MoveIt Pro vision capabilities.</description>
-  <author email="sebastian.castro@picknik.ai">Sebastian Castro</author>
-  <maintainer email="sebastian.castro@picknik.ai">Sebastian Castro</maintainer>
+  <author email="support@picknik.ai">MoveIt Pro maintainer</author>
+  <maintainer email="support@picknik.ai">MoveIt Pro maintainer</maintainer>
 
   <license>BSD-3-Clause</license>