moveit2
The MoveIt Motion Planning Framework for ROS 2.

trajectory_execution_manager → planning_scene_monitor Relation

File in moveit_ros/planning/trajectory_execution_manager/include/moveit/trajectory_execution_managerIncludes file in moveit_ros/planning/planning_scene_monitor
trajectory_execution_manager.hinclude / moveit / planning_scene_monitor / current_state_monitor.h