Is it still possible to use move_group through ros service interface?

[pmirabel]

Hello !
With MoveIt!1 it was possible to plan and execute through a service server and get feedback through a topic.
I can see that it has been replaced by an action interface here .

I was wondering if it is still possible to interface my nodes with moveit2 through topics/services only ? Would it be a huge work ?

Thank you all !