motion_planning_api_tutorial not running

[LucaBross]

Description

motion_planning_api_tutorial getting stuck when trying to run it

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• Source

Steps to reproduce

start ros2 launch moveit2_tutorials move_group.launch.py then ros2 launch moveit2_tutorials move_group_interface_tutorial.launch.py -->RViz pops up, text: MOveGroupInterface_Demo appears in RViz press Next -->the PlannedPath moves to the destination
then the Script gets stuck further pressing Next dosent work

Backtrace or Console output

my Console output can be found here: https://gist.github.com/LucaBross/8cf8f8c69cfc4712bd201f82b11fcc30

the last Console output before nothing happens anymore is

[move_group-4] [INFO] [1667555423.385853725] [moveit_move_group_default_capabilities.move_action_capability]: Motion plan was computed successfully. [move_group_interface_tutorial-1] [INFO] [1667555423.318970902] [move_group_interface]: MoveGroup action client/server ready

[LucaBross]

I think this issue relates to this one: https://github.com/ros-planning/moveit2/issues/1474 Moving the MGI initialization before the SingleThreadedExecutor should solve it.

  moveit::planning_interface::MoveGroupInterface move_group_interface(node, "panda_arm");

  rclcpp::executors::SingleThreadedExecutor executor;
  executor.add_node(node);
  auto spinner = std::thread([&executor]() { executor.spin(); });