MoveIt! Integration

https://moveit.ros.org/documentation/concepts/

http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/move_group_interface/move_group_interface_tutorial.html

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The key msgs/actions seem to be…
http://docs.ros.org/api/moveit_msgs/html/action/MoveGroup.html
http://docs.ros.org/api/moveit_msgs/html/msg/MotionPlanRequest.html

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Open Question

How do we offer an interface that gives MoveIt! developers the most powerful tools/functions with respect to loading, queueing and executing motion plans?