More completing ros2-ification of perception tutorial #1
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Background of PR
I came from answers.ros.org#389233.
The repo
moveit_tutorialsseems to be designated for ros1 only, as there's https://github.com/ros-planning/moveit2_tutorials for ros2 version of moveit tutorial, where I started ros2-ification in moveit/moveit2_tutorials#700 (at the time of writing, I am stuck though, haven't been able to visualize octomap. To be clear, with the change in this PR, I still haven't visualized octomap yet).Issue
ros2branch ran into runtime problems so the process that starts withros2 launch moveit_tutorials obstacle_avoidance_demo.launchterminates early on.Open question
Whether merging this or not, I leave it up to you. However, the current state of ros2 branch of yours doesn't seem finished due to the issues I raised above, so might as well merge for the people who come here in the future.