The MoveIt! package we've created is able to provide the necessary ROS services and actions in order to plan trajectories, but it isn't able to pass these trajectories to the real robot to execute. All the plans we've done were executed in an internal simulator that MoveIt! provides. In order to communicate with the real drone, it will be necessary to do some modifications to the MoveIt! package we created at the beginning of this section.
But before that, we need to learn a couple of things about how MoveIt! works.
The primary node used in MoveIt! is the move_group node. As shown in the system architecture in the following diagram, the move_group node integrates all of the external nodes in order to provide a set of ROS actions ...
