Missing MoveIt pre-configuration

[MohamedKari]

There is a number of official demos/tutorials on using MoveIt with Hello Robot Stretch (see below) but it seems to me, pre-configured MoveIt integration was scrapped in commit 11b15bf.

Any reasoning on why and any guidance on which parts of the MoveIt installation (https://moveit.picknik.ai/main/doc/tutorials/getting_started/getting_started.html) have been run vs. which parts of the installation are still to be done by developers?

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Obsolete (?) MoveIt demos

• https://github.com/hello-robot/stretch_tutorials/blob/master/ros2/moveit_basics.md
• https://github.com/hello-robot/stretch_tutorials/blob/master/ros2/moveit_movegroup_demo.md
• https://github.com/hello-robot/stretch_tutorials/blob/master/ros2/moveit_rviz_demo.md

[hello-binit]

Hey @MohamedKari, yes, the MoveIt configuration was scrapped in the move to ROS2 Humble. Much of the MoveIt2 API had changed for diff-drive mobile robots, and we didn't have the resources to send patches to the MoveIt2 library. I've seen recent movement on the diff-drive plugins that seem to indicate that they're becoming functional again, and it has been on my TODO list to evaluate it again. Let me know if you're interested in evaluating it and I can send you my notes.

The three linked tutorials will need to be scrapped until the MoveIt configuration is ported forward (please feel free to open a issue on the stretch_tutorials repo).