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After some work with the MoveIt Software I have come to a conclusion, which I wanna shortly present here for future reference:

1. The MoveGroup Node represents an entity of MoveIt. Whenever one wants to use MoveIt functionality, the MoveGroup Node has to be started. The ROS-Industrial Foundation provides the trajectory_execution.launch file for that. Monitoring the Robot in Rviz without motion planning functionality is therefore possible without starting the MoveGroup Node.
2. There are multiple ways to "talk to" or use the functionality of MoveIt. The MoveIt Commander shell is a quick way to interact with the model via the command line, but most of the high level functions can be also accessed via the MoveGroup C++ Interface. If one wants to go in depth an use the software adapters of MoveIt directly to for example call custom designed planners, there is the Motion Planning API.

After some work with the MoveIt Software I have come to a conclusion, which I wanna shortly present here for future reference:

1. The MoveGroup Node represents an entity of MoveIt. Whenever one wants to use MoveIt functionality, the MoveGroup Node has to be started. The ROS-Industrial Foundation provides the trajectory_execution.launch file for that. Monitoring the Robot in Rviz without motion planning functionality is therefore possible without starting the MoveGroup Node.
2. There are multiple ways to "talk to" or use the functionality of MoveIt. The MoveIt Commander shell is a quick way to interact with the model via the command line, but most of the high level functions can be also accessed via the MoveGroup C++ Interface. If one wants to go in depth an use the software adapters of MoveIt directly to for example call custom designed planners, there is the Motion Planning API.

After some work with the MoveIt Software I have come to a conclusion, which I present here for future reference:

1. The MoveGroup Node represents an entity of MoveIt. Whenever one wants to use MoveIt functionality, the MoveGroup Node has to be started. The ROS-Industrial Foundation foundation provides the trajectory_execution.launch file for that. Monitoring the Robot in Rviz without motion planning functionality is therefore possible without starting the MoveGroup Node.
2. There are multiple ways to "talk to" or use the functionality of MoveIt. The MoveIt Commander shell is a quick way to interact with the model via the command line, but most of the high level functions can be also accessed via the MoveGroup C++ Interface. If one wants to go in depth an use the software adapters of MoveIt directly to for example call custom designed planners, there is the Motion Planning API.

After some work with the MoveIt Software I have come to a conclusion, which I present here for future reference:

1. The MoveGroup Node represents an entity of MoveIt. Whenever one wants to use MoveIt functionality, the MoveGroup Node has to be started. The ROS-Industrial foundation provides the trajectory_execution.launchmoveit_planning_execution.launch file for that. Monitoring the Robot in Rviz without motion planning functionality is therefore possible without starting the MoveGroup Node.
2. There are multiple ways to "talk to" or use the functionality of MoveIt. The MoveIt Commander shell is a quick way to interact with the model via the command line, but most of the high level functions can be also accessed via the MoveGroup C++ Interface. If one wants to go in depth an use the software adapters of MoveIt directly to for example call custom designed planners, there is the Motion Planning API.