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If you are interested in a more flexible replacement for the old "pick and place" pipeline, you can try the MoveIt Task Constructor: https://github.com/ros-planning/moveit_task_constructor

There's also a tutorial for a pick/place application:

https://ros-planning.github.io/moveit_tutorials/doc/moveit_task_constructor/moveit_task_constructor_tutorial.html

But obviously there is a ton of modules out there that provide support for these applications, with varying levels of expert knowledge required to get a system to run. Some other prominent systems are

• http://motion.pratt.duke.edu/klampt
• http://wiki.ros.org/tesseract

Other users might want to comment to add to this list.

As a general rule, do not expect that anything will "just work". Looking at your listing of "plenty of things to use" you mix up many different concepts that can of course be involved, but none of them will give you a full p&p pipeline. So you have a learning curve to climb ahead. :-)