Python wrapper issue - anonymous node and topics

[matthias88]

Hi, I didn't get an answer from the community at ros answers, so maybe it is an issue, or inexperience on my part :-):

I am using ROS noetic on Ubuntu 20.04 with MoveIt and MoveIt Task Constructor Framework. If I run one of the mtc tutorial examples from MTC Tutorial the mtc solution topic and node is not of type anonymous, as you can see in the attached image: roslaunch moveit_task_constructor_demo demo.launch rosrun moveit_task_constructor_demo cartesian

If I use the python API (wrapper C++ class) the mtc node and topic is anonymous and can't be renamed or remapped: roslaunch moveit_task_constructor_demo demo.launch rosrun moveit_task_constructor_demo cartesian.py __ns:=mtc_tutorial

Finally I would like to get an easy access to the solution, so that I can execute e.g. subtrajectories via move group node (as suggested in #162 and/or time reparameterize the calculated solution.

Thanks in advance