mc_moveit is a simple interface between the mc_rtc and ros' MoveIt.
At it's heart it provides a mc_moveit::Planner interface whose role is to initialize the various planners, add collision shapes/objects (all rbdyn types supported), provide targets and plan trajectories. Upon success, it provides a mc_moveit::Trajectory result that can be automatically executed with the provided tasks, or you can write your own control.
For more detailed use, please refer to the src/sample.cpp controller. You can run it using:
./mc_moveit_sampleand visualize it with
ros2 launch mc_rtc_ticker display.launch