Combine MTC with core MoveIt packages?

[schornakj]

I think it would make sense to merge the MoveIt Task Constructor packages in this repo with the core MoveIt packages in http://github.com/ros-planning/moveit and http://github.com/ros-planning/moveit2, so I wanted to check with other MTC developers and users (especially @rhaschke and @v4hn ) to see what other folks thought about this.

Based on the structure of the C++ namespaces and the inclusion of some MTC-specific tutorials in the core MoveIt docs, I think this consolidation of packages was the original intent of the MTC authors.

Other reasons why I think this is a good idea:

• Lets us support MTC as a first-class feature of MoveIt instead of a 3rd-party add-on.
• Improves visibility for MTC issues and PRs.
• Makes it easier to keep MTC up to date with new MoveIt features.
• Conversely, makes it easier to keep MoveIt up to date with features added to improve MTC.

[rhaschke]

I am, in principle, open for such a move, but I don't agree to the list of benefits. For example, regarding the visibility of issues and PRs, I prefer a standalone repo, because it's much easier to keep track of them here. Joining the two repos would make sense if we have strong interdependencies with each other, which I didn't yet face in the past.

[AndyZe]

I'm moderately opposed to the move because I think it's too early to declare MTC as the right solution for task-planning-like things (I know it's not really a task planner). There may be other options emerging soon.

[v4hn]

I fully agree with Robert here. I don't see a real advantage to do it, but the disadvantages are small as well (as long as it's ported to moveit/master as well).