Replaced deprecated ActivateController with SwitchController behavior in franka dual arm sim.

Author: kineticsystem

src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/draw.xml

@@ -15,7 +15,16 @@
         publish_rate="50"
       />
       <Control ID="Sequence" name="TopLevelSequence">
-        <Action ID="ActivateControllers" controller_names="{controller_name}" />
+        <Action
+          ID="SwitchController"
+          activate_asap="true"
+          automatic_deactivation="true"
+          controller_list_action_name="/controller_manager/list_controllers"
+          controller_switch_action_name="/controller_manager/switch_controller"
+          strictness="1"
+          timeout="-1.000000"
+          activate_controllers="{controller_name}"
+        />
         <Action
           ID="LoadPoseStampedVectorFromYaml"
           output="{pose_stamped_msgs}"
@@ -25,6 +34,9 @@
           ID="VisualizePath"
           marker_lifetime="0.000000"
           path="{pose_stamped_msgs}"
+          marker_name="path"
+          pose_marker_size="0.100000"
+          show_poses="false"
         />
         <Action
           ID="PlanCartesianPath"
@@ -48,6 +60,7 @@
           goal_position_tolerance="0.000000"
           goal_time_tolerance="0.000000"
           goal_duration_tolerance="-1.000000"
+          trajectory_remainder="{joint_trajectory_remainder}"
         />
       </Control>
     </Control>

src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/writing_demo.xml

@@ -4,7 +4,7 @@
   <BehaviorTree
     ID="Writing Demo"
     _description="Pick up a pen, draw a text on a flat surface, and place the pen back."
-    _favorite="true"
+    _favorite="false"
   >
     <Control ID="Sequence">
       <SubTree