moveit2
The MoveIt Motion Planning Framework for ROS 2.

global_planner → planning Relation

File in moveit_ros/hybrid_planning/global_planner/global_planner_component/include/moveit/global_plannerIncludes file in moveit_ros/planning
global_planner_interface.hplanning_scene_monitor / include / moveit / planning_scene_monitor / planning_scene_monitor.h