Integrate support for motion planning using MoveIt2 or Nav2

[evan-palmer]

Feature Type

Adding new functionality to the BlueROV2 driver

Problem Description

Users are currently required to develop their own motion planners and interface them with a controller. This is fine from a research perspective, but ultimately makes it more challenging for folks that just want to use this as a ROS 2 interface for the BlueROV2.

Feature Description

Implement support for either MoveIt2 to perform motion planning or the Nav2 stack. Other projects have explored the integration of Nav2 (see here) but MoveIt2 may also be a useful interface to consider.

Alternative Solutions

A simple custom interface could be written to support developing motion planners and integrating them into the project. While this may be easier from an integration perspective, it ultimately would require much more maintenance and would not have as much support or features available.

Additional Context

No response

[evan-palmer]

I think it would actually be useful to try to integrate both of these planning features. They will probably be broken up into separate issues when the time comes to implement that feature.

[evan-palmer]

@OgnjenX was kind enough to implement support for this, which is available at the PR here. I'm planning to review this soon to integrate it back into the repo!

[evan-palmer]

Noting here that @JBVAkshaya has been working on integrating support for the joint trajectory controller