Support for ROS2 and MoveIt2

[smartin015]

I'd like to run my AR3 using ROS2 (and so also MoveIt2) - prevailing wisdom is that ROS2 is preferred for new projects beyond 2021.

Have you done any ROS2 work with the AR3 already? Happy to contribute in any case.

[ongdexter]

I got started on some work a while back but I don't think that it is in a useful state to share. I've had to put this project aside and don't think that I will be getting back on it any time soon, sorry about that!

[smartin015]

No problem! I do appreciate the response, and for the vanilla ROS implementation as a starting point :)

If you're interested in following along, I created a fork and started a ROS Answers thread for where I'm currently stuck at - managed to get all the nodes up and running and planning sucessfully works, but movement is still broken.