best practice for IK calculation inside a controller using moveit

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Dear all,

I am implementing a Cartesian controller in Humble Ubuntu 22 and wanted to use moveit2 infrastructure for IK calculations so it would support different IK plugins. What would be the best practice to include the robot model loader inside a controller, as it uses LifecycleNode and not a node.

In general, I need to use the setFromIK function inside the controller on multiple threads.

Is there a strait forward way to do this or must I use the IK plugin without moveit?

Thank you very much for the assistance!