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How to use MAVROS to control quadrotor with MoveIt?

  1. How can I let my quadrotor taking path-planning / motion planning by using MoveIt? Is it need to write a controller by my own or there is a ready-made package?

  2. What is the conception of action client? How should I write an action server act in concert with MoveIt? Is it I need to send a command by action server to MAVROS for letting my quadrotor can be flying under my control or else any ways can do so?

Welcome anyone here come and give me more suggestions, I think I have lost my way now. Thank You so much.