Import example code and basic prototype

rviz/ign_moveit2_examples.rviz

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+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /MotionPlanning1
+      Splitter Ratio: 0.6278260946273804
+    Tree Height: 412
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+      - /Current View1/Focal Point1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Acceleration_Scaling_Factor: 1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Constraint_Aware_IK: false
+      MoveIt_Warehouse_Host: 127.0.0.1
+      MoveIt_Warehouse_Port: 33829
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: false
+        Interrupt Display: false
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          panda_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_hand_tcp:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          panda_leftfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link8:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          panda_rightfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Loop Animation: true
+        Robot Alpha: 0.25
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.1s
+        Trail Step Size: 1
+        Trajectory Topic: /display_planned_path
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 0.5
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0.10000000149011612
+        Joint Violation Color: 255; 0; 255
+        Planning Group: arm
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 0.5
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          panda_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_hand_tcp:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          panda_leftfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link8:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          panda_rightfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: panda_link0
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.5
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.3333333432674408
+        Y: 0
+        Z: 0.5
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.39269909262657166
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.7853981852531433
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 720
+  Hide Left Dock: false
+  Hide Right Dock: true
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000247000003b0fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000046000001eb000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000005201000003fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000232000001c4000001b9010000030000000100000110000003b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000046000003b0000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000048fc0100000002fb0000000800540069006d0065000000000000000780000002d701000003fb0000000800540069006d0065010000000000000450000000000000000000000538000003b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1280
+  X: 0
+  Y: 0