Update tool srvs (#71)

* Add AddTool Srv
* Consolidate DetachTool/RemoveTool srvs
* Remove no longer needed fields in AttachTool srv

moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt

@@ -29,8 +29,9 @@ set(msg_files
 )
 
 set(srv_files
+  "srv/AddTool.srv"
   "srv/AttachTool.srv"
-  "srv/DetachTool.srv"
+  "srv/DetachOrRemoveTool.srv"
   "srv/ClearStoredParameters.srv"
   "srv/EditWaypoints.srv"
   "srv/GetAgentInfo.srv"

moveit_studio_msgs/moveit_studio_agent_msgs/srv/AddTool.srv

@@ -0,0 +1,22 @@
+# Service to add tools in the planning scene.
+# The tool is given as a URDF string, and is attached to a specific frame in the planning scene with a relative pose.
+# Once the tool is added, its collision shapes will be updated in the planning scene according to the tool joint values,
+# if those are published in /joint_states.
+
+# The name of the tool to add to the planning scene.
+# It must not be in the planning scene already, otherwise an error will be returned.
+string tool_name
+
+# The tool URDF.
+string tool_urdf
+
+# The pose at which the tool will be added.
+# Use a pose stamped so we can define the frame relative to which the tool will be added.
+geometry_msgs/PoseStamped tool_pose
+
+---
+# If the operation was successful.
+bool success
+
+# If the operation was not successful, a message describing the error.
+string message

moveit_studio_msgs/moveit_studio_agent_msgs/srv/AttachTool.srv

@@ -1,22 +1,17 @@
 # Service to attach articulated tools to the robot.
-# The tool is given as a URDF string, and is attached to a specific link on the robot with a relative pose.
+# The tool given must already exist in the planning scene, and is attached to a specific link on the robot at the
+# current transform between the link and the tool.
 # Once the tool is attached, its collision shapes will be updated in the planning scene according to the tool
 # joint values, if those are published in /joint_states.
 
 # The name of the tool to attach.
 # It must not be attached already, otherwise an error will be returned.
 string tool_name
 
-# The tool URDF.
-string tool_urdf
-
 # The name of the robot link to attach to.
 # It must exist in the robot URDF, otherwise an error will be returned.
 string parent_link_name
 
-# The relative transform of the tool with respect to the parent link.
-geometry_msgs/Transform tool_pose
-
 # Robot links this tool is allowed to collide with.
 string[] allowed_collision_links
 

moveit_studio_msgs/moveit_studio_agent_msgs/srv/DetachOrRemoveTool.srv

@@ -0,0 +1,15 @@
+# Service to detach tools from the robot or remove them from the scene.
+
+# The name of the tool to detach or remove.
+# If using this srv with the 'detach_tool' service, the tool must have been
+# attached to the robot previously.
+# If using this srv with the 'remove_tool_from_scene', the tool must have been
+# added to the scene previously.
+string tool_name
+
+---
+# If the operation was successful.
+bool success
+
+# If the operation was not successful, a message describing the error.
+string message