Using MoveGroup in different nodes (moveit!)

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Ty for the answer! It looks to me (If i correctly undestood your code/answer), that this not the solution for my problem, since what you get doing that is that the move_group class is defined for all of the services and fuctions in your node

My problem is that i want to use the same move_group in different nodes . Right now i have to init a new move_group every time i call a new node, that takes a lot of time, also i dont know if this can cause any problems.

I can't see the reason to have multiple nodes having the same move_group class. I doubt that you can share this object over multiple nodes (source codes c++ or python). Why do you need more than one node to control the arm?

By using multi-threading in a node, you can have multiple services (service servers) running in parallel. You can even define multiple node handles and run them asynchronously. Hence, you don't need more than one node. An object created in a program is not designed to get shared as a resource.

The reason why i needed to use more than one node, was because this way my system would work in a more intuitive way. But yes maybe is better to just use one node with a lot of services for simplicity, i will give it a try.

Anyway im taking this question as the correct one, since the link you posted seems to me like a good point to start researching about this problem.