An often observed source of confusion in MoveIt is the class "MoveGroup".

While everyone instantly believes to recognize this as the node that encapsulates most of MoveIt's functionality in ROS, this class actually lives in "planning_interface" and only provides a client interface to interact with the node via ROS-interfaces. It is often believed that most of the class methods call library functions and do not wrap ROS interfaces.

As such it should be renamed "MoveGroupInterface" in kinetic. This includes a number of steps (in order)

• move move_group.h to move_group_interface.h and rename the class
• provide a new move_group.h that provides a typedef named MoveGroup to be downward compatible
• rename the class throughout MoveIt's own code base
• adjust the tutorials to the new name
• add a deprecation notice to move_group.h