@gbiggs,
> Do you plan to do this work later in the timeline?
This is simply a matter of limited resources. We could promise more but it might be an empty promise. Additionally, I'm getting a lot of push back from moveit 1.0 maintainers who want us to maintain the ability to back port / forward port changes between the two branches. I think its wise to keep this ability for the next few months, until MoveIt 2.0 is actually running.
> Nodelets dont exist in ROS 2
Yes, we should be more rigorous with our terminology, but I think more people know what we mean by using the ROS1 term "nodelets" than the new term "components". IMHO "components" is far more ambiguous to non-expert ROS2 users as its used in general software engineering all the time.
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