I made a few modifications for MoveIt to be able to run with rmw_zenoh middleware implementation. This is experimental PR and should not be merged. It seems this modifications works well with rmw_zenoh. We have actually just changed below (see my reviews) parts. I also added this PR's commits. By the way i don't know how these changes affect MoveIt execution flow. I am still investigating.
Checklist
[ ] Required by CI: Code is auto formatted using clang-format
[ ] Extend the tutorials / documentation reference
[ ] Document API changes relevant to the user in the MIGRATION.md notes
[ ] Create tests, which fail without this PR reference
[ ] Include a screenshot if changing a GUI
[ ] While waiting for someone to review your request, please help review another open pull request to support the maintainers
Description
I made a few modifications for MoveIt to be able to run with rmw_zenoh middleware implementation. This is experimental PR and should not be merged. It seems this modifications works well with rmw_zenoh. We have actually just changed below (see my reviews) parts. I also added this PR's commits. By the way i don't know how these changes affect MoveIt execution flow. I am still investigating.
Checklist