Adjust color blob service interface

Author: eholum-nasa

clr_pick_and_place_demo/src/run_demo.cpp

@@ -404,7 +404,7 @@ class RunDemoNode : public rclcpp::Node
     RCLCPP_INFO(LOGGER, "Detecting CTB handle.");
     // Find red blob in wrist camera image
     auto request = std::make_shared<color_tools_msgs::srv::BlobCentroid::Request>();
-    request->color = "red";
+    request->request.color = "red";
     std::shared_ptr<color_tools_msgs::srv::BlobCentroid::Response> response;
     do
     {
@@ -413,17 +413,17 @@ class RunDemoNode : public rclcpp::Node
                                         std::shared_ptr<color_tools_msgs::srv::BlobCentroid::Request>,
                                         std::shared_ptr<color_tools_msgs::srv::BlobCentroid::Response>>(
           color_blob_client, request);
-      if (response->centroid_pose.header.frame_id != "")
+      if (response->result.centroid_pose.header.frame_id != "")
       {
-        RCLCPP_INFO(LOGGER, "Blob frame id: %s", response->centroid_pose.header.frame_id.c_str());
+        RCLCPP_INFO(LOGGER, "Blob frame id: %s", response->result.centroid_pose.header.frame_id.c_str());
         break;
       }
-      else if (response->color_img.header.frame_id != "")
+      else if (response->result.color_img.header.frame_id != "")
       {
         RCLCPP_ERROR(LOGGER,
                      "Failed to find %s color blob in FOV. Move robot to "
                      "provide new view.",
-                     request->color.c_str());
+                     request->request.color.c_str());
         return false;
       }
       else
@@ -432,13 +432,13 @@ class RunDemoNode : public rclcpp::Node
                             "topics exist and data is flowing.");
       }
       std::this_thread::sleep_for(std::chrono::seconds(1));
-    } while (response->color_img.header.frame_id == "");
+    } while (response->result.color_img.header.frame_id == "");
 
     // Transform waypoint from camera frame to planning frame
-    geometry_msgs::msg::Pose local_pose = response->centroid_pose.pose;
+    geometry_msgs::msg::Pose local_pose = response->result.centroid_pose.pose;
     geometry_msgs::msg::TransformStamped transform;
     geometry_msgs::msg::Pose global_pose;
-    bool success = this->get_global_transform(response->centroid_pose.header.frame_id, transform);
+    bool success = this->get_global_transform(response->result.centroid_pose.header.frame_id, transform);
     if (!success)
     {
       return false;