Simplify rclcpp::Node creation

Directly pass node name and namespace instead of using options.

Author: rhaschke

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<moveit_task_constructor_msgs::msg::TaskDescription>(
 		    DESCRIPTION_TOPIC, rclcpp::QoS(2).transient_local());

core/src/stages/current_state.cpp

@@ -75,10 +75,7 @@ void CurrentState::compute() {
 	scene_ = std::make_shared<planning_scene::PlanningScene>(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<std::size_t>(this)) });
-	auto node = rclcpp::Node::make_shared("_", options);
+	auto node = rclcpp::Node::make_shared("current_state_" + std::to_string(reinterpret_cast<std::size_t>(this)));
 	auto client = node->create_client<moveit_msgs::srv::GetPlanningScene>("get_planning_scene");
 
 	auto timeout = std::chrono::duration<double>(this->timeout());

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<std::size_t>(this)) });
-	auto node = rclcpp::Node::make_shared("_", options);
+	auto node = rclcpp::Node::make_shared("moveit_task_constructor_executor_" +
+	                                      std::to_string(reinterpret_cast<std::size_t>(this)));
 	auto ac = rclcpp_action::create_client<moveit_task_constructor_msgs::action::ExecuteTaskSolution>(
 	    node, "execute_task_solution");
 	if (!ac->wait_for_action_server(0.5s)) {

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<std::size_t>(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<std::size_t>(this)),
+	                                  "/moveit_task_constructor/remote_task_model");
 	// service to request solutions
 	get_solution_client_ = node_->create_client<moveit_task_constructor_msgs::srv::GetSolution>(service_name);
 }

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<moveit_task_constructor_msgs::action::ExecuteTaskSolution>(
 	    node_, "execute_task_solution");