diff --git a/core/src/introspection.cpp b/core/src/introspection.cpp index d8e93848..2eb1d2a8 100644 --- a/core/src/introspection.cpp +++ b/core/src/introspection.cpp @@ -108,9 +108,7 @@ class IntrospectionPrivate { public: IntrospectionPrivate(const TaskPrivate* task, Introspection* self) : task_(task), task_id_(getTaskId(task)) { - rclcpp::NodeOptions options; - options.arguments({ "--ros-args", "-r", "__node:=introspection_" + task_id_ }); - node_ = rclcpp::Node::make_shared("_", task_->ns(), options); + node_ = rclcpp::Node::make_shared("introspection_" + task_id_, task_->ns()); executor_.add_node(node_); task_description_publisher_ = node_->create_publisher( DESCRIPTION_TOPIC, rclcpp::QoS(2).transient_local()); diff --git a/core/src/stages/current_state.cpp b/core/src/stages/current_state.cpp index f03b37ad..5a5d4c15 100644 --- a/core/src/stages/current_state.cpp +++ b/core/src/stages/current_state.cpp @@ -75,10 +75,7 @@ void CurrentState::compute() { scene_ = std::make_shared(robot_model_); // Add random ID to prevent warnings about multiple publishers within the same node - rclcpp::NodeOptions options; - options.arguments( - { "--ros-args", "-r", "__node:=current_state_" + std::to_string(reinterpret_cast(this)) }); - auto node = rclcpp::Node::make_shared("_", options); + auto node = rclcpp::Node::make_shared("current_state_" + std::to_string(reinterpret_cast(this))); auto client = node->create_client("get_planning_scene"); auto timeout = std::chrono::duration(this->timeout()); diff --git a/core/src/task.cpp b/core/src/task.cpp index 0610992c..845864b0 100644 --- a/core/src/task.cpp +++ b/core/src/task.cpp @@ -270,11 +270,8 @@ void Task::preempt() { moveit::core::MoveItErrorCode Task::execute(const SolutionBase& s) { // Add random ID to prevent warnings about multiple publishers within the same node - rclcpp::NodeOptions options; - options.arguments( - { "--ros-args", "-r", - "__node:=moveit_task_constructor_executor_" + std::to_string(reinterpret_cast(this)) }); - auto node = rclcpp::Node::make_shared("_", options); + auto node = rclcpp::Node::make_shared("moveit_task_constructor_executor_" + + std::to_string(reinterpret_cast(this))); auto ac = rclcpp_action::create_client( node, "execute_task_solution"); if (!ac->wait_for_action_server(0.5s)) { diff --git a/visualization/motion_planning_tasks/src/remote_task_model.cpp b/visualization/motion_planning_tasks/src/remote_task_model.cpp index 6e7faf18..df63a216 100644 --- a/visualization/motion_planning_tasks/src/remote_task_model.cpp +++ b/visualization/motion_planning_tasks/src/remote_task_model.cpp @@ -189,11 +189,8 @@ RemoteTaskModel::RemoteTaskModel(const std::string& service_name, const planning : BaseTaskModel(scene, display_context, parent), root_(new Node(nullptr)) { id_to_stage_[0] = root_; // root node has ID 0 // Add random ID to prevent warnings about multiple publishers within the same node - rclcpp::NodeOptions options; - options.arguments({ "--ros-args", "-r", - "__node:=get_solution_node_" + std::to_string(reinterpret_cast(this)), "-r", - "__ns:=/moveit_task_constructor/remote_task_model" }); - node_ = rclcpp::Node::make_shared("_", options); + node_ = rclcpp::Node::make_shared("get_solution_node_" + std::to_string(reinterpret_cast(this)), + "/moveit_task_constructor/remote_task_model"); // service to request solutions get_solution_client_ = node_->create_client(service_name); } diff --git a/visualization/motion_planning_tasks/src/task_panel.cpp b/visualization/motion_planning_tasks/src/task_panel.cpp index 605321f9..9a5453d5 100644 --- a/visualization/motion_planning_tasks/src/task_panel.cpp +++ b/visualization/motion_planning_tasks/src/task_panel.cpp @@ -228,9 +228,7 @@ void setExpanded(QTreeView* view, const QModelIndex& index, bool expand, int dep TaskViewPrivate::TaskViewPrivate(TaskView* view) : q_ptr(view) { setupUi(view); - rclcpp::NodeOptions options; - options.arguments({ "--ros-args", "-r", "__node:=task_view_private" }); - node_ = rclcpp::Node::make_shared("_", "", options); + node_ = rclcpp::Node::make_shared("task_view_private", ""); exec_action_client_ = rclcpp_action::create_client( node_, "execute_task_solution");