MoveIt Python API Usage in Nodes #1049
Description
The tutorial provided for using the Python API demonstrates passing the MoveIt Config in a launch file to the Node (here line 39). While the demos work, I have some questions pertaining to how you would use this in practice:
- While the API and its usage is fairly clear, I do not understand the need to pass the moveit config to the node every time. This forces the use of Launch files to test out individual features during development, instead of just running the feature in a node which works in the tandem with a working MoveIt Pipeline.
- Using the config builder is not always an option, specially for robots like the UR series, which have an extremely modular interface for loading their controllers and URDFs. Is there an alternative?
The current API usage feels extremely clunky and sensitive to use. I feel both of my questions primarily come from how different the python and C++ API usage is for the Moveit2 compared to ROS1's MoveIt. Is there any resource which goes into the internal workings of MoveIt2, beyond the existing how-to tutorials in this repository?