Namespace for /execute_task_solution Action Client

[swiz23]

Hi,

For my ROS2 project, I am launching move_group in a namespace 'arm1'. This will end up advertising the execute task solution action server as /arm1/execute_task_solution.

Using a custom node, I can then plan a task which is published to the /arm1/solution topic.

Then, using Rviz, I select the task in the Motion Planning Tasks plugin, highlight the cost, then hit the 'Exec' button. However, it fails to execute, giving a warning in the terminal that was used to launch Rviz of:
[rviz2-1] [ERROR] [1671738043.591988305] [moveit_task_constructor_visualization.task_view]: Failed to connect to task execution action

Upon closer inspection, it seems the reason this is happening is that the Motion Planning Tasks plugin spins off a node called 'task_view_private' that hosts the action client in the root namespace (so just /execute_task_solution). So since the server and client are in different namespaces, they cannot communicate with each other.

I noticed that the MotionPlanning plugin contain a 'namespace' field which allow action clients to be mapped to the correct namespace. However, I do not see this field present in the Motion Planning Tasks Rviz plugin. Is there another way to get the Rviz Execute Task Solution Action Client in the correct namespace? Note that launching the Rviz node in the 'arm1' namespace is not an option since this will cause issues with the MotionPlanning plugin.

Thanks.

[swiz23]

So it turned out that I was able to launch Rviz in the 'arm1' namespace, and still get the MotionPlanning plugin to work. See moveit/moveit2#1831.