Requesting Clarification on the entire Moveit2 Block Diagram / Flowchart

[aaronraj11]

Requesting Clarification on the Entire Moveit2 Block Diagram / Flowchart

Hello guys, just a little background on myself, I'm a student who's working on a 6DOF robotic arm, I do have some knowledge in moveit2, but I do not completely understand the entire Moveit2 Flow Chart, my Project requires point cloud data from a depth camera, and then it is then sent to a planner (localizing algorithm) and then it gets passed into move_group, but what actually happens in movegroup is what I do not understand, could someone provide some clarification, it would be very helpful

My Current Flowchart / blockdiagram

the image below is the flowchart that I made, I'm hoping to get some clarification for the move_group component

Flowchart / blockdiagram inspirations

ive gotten inspiration from this block diagrams

Conclusion

could someone provide some clarification on this topic, this would be very helpful, thank you very much!