This demo includes a launch configuration for running MoveGroup and a separate MoveGroupInterface demo node.
The MoveGroup setup can be started using the launch file run_move_group.launch.py:
ros2 launch run_move_group run_move_group.launch.py
This allows you to start planning and executing motions using the RViz MotionPlanning display. The MoveGroupInterface demo can be started by additionally running:
ros2 launch run_move_group run_move_group_interface.launch.py
This will open an interactive xterm that will prompt for user input for running consecutive planning/execution steps.