Work on ROS2

lrs_turtle/executors/move_to.py

 import json
 
 from lrs_exec.executor_factory import ExecutorFactory
+from lrs_util.constraints import Constraints
 
 from lrs_turtle.executors.base_executor import BaseExecutor
 
@@ -37,8 +38,11 @@ class MoveToExecutorFactory(ExecutorFactory):
         return MoveToExecutor(node, id)
 
     def json_constraints(self, node_json):
-        res = ""
-        jobj = {"speed": ["slow", "standard"]}
-        res = json.dumps(jobj, sort_keys=True, indent=4, separators=(',', ': '))
-        return res
+        try:
+            cons = Constraints()
+            cons.set_possible_speeds(["slow", "standard"])        
+            res = cons.get_json_str()
+            return res
+        except Exception as exc:
+            self.get_logger().error(f'EXCEPTION json_constraints: {type(exc)} - {exc}')