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With Groovy and later, the arm_navigation package became deprecated in favor of MoveIt. As part of that, simple_arm_server (which leveraged portions of arm_navigation) became deprecated. I never did get around to releasing all of turtlebot_arm under MoveIt, but the start of it is in the groovy-devel branch of https://github.com/turtlebot/turtlebot_arm.

Specifically, I did create an FastIK plugin which negated the need for the simple_arm_server, however, since that was checked in the API on the KinematicsBase class has changed, and so the package may need updates in order to compile with the latest versions of MoveIt!