From 059b3eb4e1fa130f4c8d8189118a14036821f602 Mon Sep 17 00:00:00 2001
From: Brian Kempa <Brian.C.Kempa@nasa.gov>
Date: Wed, 20 Dec 2023 23:42:07 -0800
Subject: [PATCH] Move submodules to avoid nested catkin packages

---
 .gitmodules                                          |  4 ++--
 .../{survey_planner/src => }/ros1_lifecycle          |  0
 .../{survey_planner/src => }/ros2_planning_system    |  0
 .../survey_planner/launch/survey_domain.launch       | 12 ++++++++++++
 4 files changed, 14 insertions(+), 2 deletions(-)
 rename astrobee/survey_manager/{survey_planner/src => }/ros1_lifecycle (100%)
 rename astrobee/survey_manager/{survey_planner/src => }/ros2_planning_system (100%)

diff --git a/.gitmodules b/.gitmodules
index 6d14a890..bff58755 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -2,10 +2,10 @@
 	path = communications/isaac_msgs
 	url = https://github.com/nasa/isaac_msgs.git
 [submodule "astrobee/survey_manager/survey_planner/src/ros2_planning_system"]
-	path = astrobee/survey_manager/survey_planner/src/ros2_planning_system
+	path = astrobee/survey_manager/ros2_planning_system
 	url = https://github.com/bckempa/ros2_planning_system
 	branch = noetic-devel
 [submodule "astrobee/survey_manager/survey_planner/src/ros1_lifecycle"]
-	path = astrobee/survey_manager/survey_planner/src/ros1_lifecycle
+	path = astrobee/survey_manager/ros1_lifecycle
 	url = https://github.com/bckempa/ros1_lifecycle
 	branch = noetic-devel
diff --git a/astrobee/survey_manager/survey_planner/src/ros1_lifecycle b/astrobee/survey_manager/ros1_lifecycle
similarity index 100%
rename from astrobee/survey_manager/survey_planner/src/ros1_lifecycle
rename to astrobee/survey_manager/ros1_lifecycle
diff --git a/astrobee/survey_manager/survey_planner/src/ros2_planning_system b/astrobee/survey_manager/ros2_planning_system
similarity index 100%
rename from astrobee/survey_manager/survey_planner/src/ros2_planning_system
rename to astrobee/survey_manager/ros2_planning_system
diff --git a/astrobee/survey_manager/survey_planner/launch/survey_domain.launch b/astrobee/survey_manager/survey_planner/launch/survey_domain.launch
index 1ef633ab..bbcd5145 100644
--- a/astrobee/survey_manager/survey_planner/launch/survey_domain.launch
+++ b/astrobee/survey_manager/survey_planner/launch/survey_domain.launch
@@ -23,6 +23,18 @@
     <arg name="params_file" value="$(arg params_file)"/>
   </include>
 
+  <!-- Planner -->
+  <include file="$(find plansys2_planner)/launch/planner.launch">
+    <arg name="namespace"  value="$(arg namespace)"/>
+    <arg name="params_file" value="$(arg params_file)"/>
+  </include>
+
+  <!-- Executor -->
+  <include file="$(find plansys2_executor)/launch/executor.launch">
+    <arg name="namespace"  value="$(arg namespace)"/>
+    <arg name="params_file" value="$(arg params_file)"/>
+  </include>
+
   <!-- Manager -->
   <node name="lifecycle_manager_node" pkg="plansys2_lifecycle_manager" type="lifecycle_manager_node" output="screen">
   </node>