Plan a MotionSequenceRequest Moveit2

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Platform

• Ubuntu 20.04.4 LTS 64-bits
• Ros galactic
• Moveit2

Problem

Hi,

I am currently using moveit2 and the pilz planner as described here : link

I was able to plan PTP, LIN and CIRC motion using the info on this page and the structure of the example here : link

However, those are only simple request and work with the /move_group action and the /plan_kinematic_path service. I have access to them, I guess through the /move_groupe_node. I mostly followed the tutorials and when I searched for them, they were already her.

What I would like to do on the other Hand is to plane a MotionSequenceRequest. However, for that, I need the '/sequence_move_group' action or the /plan_sequence_path service. They are not available if I launch my move_group_node, and I have no idea on how to start them.

Any information ?