make server_endpoint.py executable (#103)

tutorials/pick_and_place/ROS/src/niryo_moveit/scripts/server_endpoint.py

+#!/usr/bin/env python
+
+import rospy
+
+from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService
+from niryo_moveit.msg import NiryoMoveitJoints, NiryoTrajectory
+from niryo_moveit.srv import MoverService
+
+
+def main():
+    ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer')
+    tcp_server = TcpServer(ros_node_name)
+    rospy.init_node(ros_node_name, anonymous=True)
+
+    # Start the Server Endpoint with a ROS communication objects dictionary for routing messages
+    tcp_server.start({
+        'SourceDestination_input': RosPublisher('SourceDestination', NiryoMoveitJoints, queue_size=10),
+        'NiryoTrajectory': RosSubscriber('NiryoTrajectory', NiryoTrajectory, tcp_server),
+        'niryo_moveit': RosService('niryo_moveit', MoverService)
+    })
+    
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    main()