Improved Realtime Control with MoveIt Servo [MoveIt 2]

Problem: MoveIt Servo is a powerful tool for real-time robot control, but its current ROS-only interface limits its accessibility to C++ applications. Additionally, there is a need for better documentation and features, such as the ability to pause and resume motion. Solution: In this project, I propose to improve MoveIt Servo's accessibility to C++ applications and develop callbacks for pausing Servo. I will also document how to create and use custom IK goal functions and implement real-time IK cost function updates. Deliverables: Implement a C++ interface for MoveIt Servo. Develop callbacks for pausing Servo in relevant scenarios. Document how to create and use custom IK goal functions with the pick_ik package. Implement real-time IK cost function updates. Provide well-documented code and tutorials with visualizations for the MoveIt community.