Import example code and basic prototype

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(ign_moveit2_examples)
+
+# Default to C11
+if(NOT CMAKE_C_STANDARD)
+    set(CMAKE_C_STANDARD 11)
+endif()
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+endif()
+
+# Compiler options
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Testing and linting
+if(BUILD_TESTING)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(moveit_ros_planning_interface REQUIRED)
+
+# Install C++ examples
+set(EXAMPLES_CPP_DIR examples/cpp)
+# Example 0 - Follow target
+set(EXECUTABLE_0 ex_follow_target)
+add_executable(${EXECUTABLE_0} ${EXAMPLES_CPP_DIR}/${EXECUTABLE_0}.cpp)
+ament_target_dependencies(${EXECUTABLE_0}
+    rclcpp
+    geometry_msgs
+    moveit_ros_planning_interface
+)
+install(TARGETS
+    ${EXECUTABLE_0}
+    DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install Python examples
+set(EXAMPLES_PY_DIR examples/py)
+install(PROGRAMS
+    ${EXAMPLES_PY_DIR}/ex_follow_target.py
+    ${EXAMPLES_PY_DIR}/ex_throw_object.py
+    DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install directories
+install(DIRECTORY launch rviz worlds DESTINATION share/${PROJECT_NAME})
+
+# Setup the project
+ament_package()