Hi @Yongbo, we deprecated the MoveIt2 support in ROS2 Galactic because the API had changed between Galactic and Humble. There’s been some effort to port it forward to Humble, but that isn’t complete. Recently, the work in the following post with PyOptas has seemed to me a more promising way to set up trajectory optimization: Whole Body Trajectory Optimization for stretch
If you’re interested in pushing forward with MoveIt2, I can put together some notes on the pain points that need to be solved.