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Using MoveGroup in different nodes (moveit!)


Right now im working with a custom robot and moveit!, and what Im trying to do, is to generate some services nodes, and use them to move my robot using moveit!.

The problem is that for optimization reasons, i dont want to have to initialize a MoveGroup in my node services every time i call one of them, as i have to do right now. However i couldnt find any way to send an already defined MoveGroup to another node, and work with it.

So the question is, Is ther anyway to do this? To work with the same defined MoveGroup in different nodes?

Thank you in advance! any help will be welcome :D