Is it still possible to use move_group through ros service interface?

moveit / moveit2

:robot: MoveIt for ROS 2

https://moveit.ai/

BSD 3-Clause "New" or "Revised" License

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Is it still possible to use move_group through ros service interface? #2889

Closed pmirabel closed 3 months ago

pmirabel commented 3 months ago

Hello ! With MoveIt!1 it was possible to plan and execute through a service server and get feedback through a topic.
I can see that it has been replaced by an action interface here .

I was wondering if it is still possible to interface my nodes with moveit2 through topics/services only ? Would it be a huge work ?

Thank you all !