Bjar Ne

## Feature request Make all overloads of `fromMsg()` and `toMsg()` template specializations (with `template`) #### Feature description As pointed out in ros/geometry2#430, the `fromMsg()` and `toMsg()` Methods are traditional overloads...

@v4hn [proposed](https://github.com/ros-planning/moveit2_tutorials/pull/101#discussion_r685737974) to replace both `warehouse_host` and `warehouse_port` parameters with one single generic one, e.g. `warehouse_uri`. With the `uri` parameters, the plugins have more freedom in how and where they...