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The answer has already been given in the above discussion. Any type of controller can be grouped into a planning group. The trick is to define the group in roslaunch moveit_setup_assistant setup_assistant.launch and check if Pose is actually possible. And since the Generate Package generates a .srdf file, you should be able to use it in your Moveit by copying or editing a part of the group into your package.

The answer has already been given in the above other discussion. Any type of controller can be grouped into a planning group. The trick is to define the group in roslaunch moveit_setup_assistant setup_assistant.launch and check if Pose is actually possible. And since the Generate Package generates a .srdf file, you should be able to use it in your Moveit by copying or editing a part of the group into your package.

The answer has already been given in the other discussion. Any type of controller can be grouped into a planning group. The trick is to define the group in roslaunch moveit_setup_assistant setup_assistant.launch and check if Pose is actually possible. And since the Generate Package generates a .srdf file, you should be able to use it in your Moveit by copying or editing a part of the group into your package.