Integration with Finite State Machine

Integration with Finite-State-Machine

door_disassemble uses raster_scanner only when raster scanning is enabled.

Flow

1. perception returns four subdoor corner poses
2. door_disassemble sends those corners to /plan_scan_path
3. raster_scanner executes the scan and requests screw perception after each waypoint
4. the service response returns a JSON payload containing screw_poses
5. door_disassemble stores those poses in scan_screw_poses
6. the stored poses are later passed to screwdriver_pick