moveit2
The MoveIt Motion Planning Framework for ROS 2.

moveit → planning_interface Relation

File in moveit_ros/visualization/motion_planning_rviz_plugin/include/moveitIncludes file in moveit_ros/planning_interface
motion_planning_rviz_plugin / motion_planning_frame.hmove_group_interface / include / moveit / move_group_interface / move_group_interface.h