We can say that move_group is the heart of MoveIt!, as this node acts as an integrator of the various components of the robot and delivers actions/services according to the user's needs.
From the architecture, it's clear that the move_group node collects robot information such as point cloud, joint state of the robot, and transform (TF) of the robot in the form of topics and services.
From the parameter server, it collects the robot kinematics data, such as robot_description (URDF), Semantic Robot Description Format (SRDF), and the configuration files. The SRDF file and the configuration files are generated while we generate a MoveIt! package for our robot. The configuration files contains the parameter file for setting ...
