Moveit Task Constructor Python Wrapper Issue

asked 2023-04-29 05:42:24 -0500

matthias88 gravatar image

I am using ROS noetic on ubuntu 20.04 with MoveIt and MoveIt Task Constructor Framework. If I run one of the mtc tutorial examples from MTC Tutorial the mtc solution topic and node is not of type anonymous, as you can see in the attached image:

roslaunch moveit_task_constructor_demo demo.launch
rosrun moveit_task_constructor_demo cartesian

image description

If I use the python API (wrapper C++ class) the mtc node and topic is anonymous and can't be renamed or remapped:

roslaunch moveit_task_constructor_demo demo.launch
rosrun moveit_task_constructor_demo cartesian.py __ns:=mtc_tutorial

image description

Does anybody know a solution for that or do I misunderstand how it works? Thanks in advance

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