servo_node control multiple end-effectors

[wangxj2014]

Description

When using moveit_servo/servo_node_main, the node name setting is ineffective, and multiple end-effectors cannot be configured for servo control simultaneously. What is the solution?

ROS Distro

Humble

OS and version

Ubuntu 22.04

Source or binary build?

Binary

If binary, which release version?

ros-humble-moveit-servo/jammy,now 2.5.9-1jammy.20251119.021459 amd64

If source, which branch?

No response

Which RMW are you using?

None

Steps to Reproduce

l_down_servo_node = Node(
package="moveit_servo",
executable="servo_node_main",
parameters=[
servo_params_l_down,
moveit_config.robot_description,
moveit_config.robot_description_semantic,
moveit_config.robot_description_kinematics,
],
output="screen",
# remappings=[
# ("/l_down_servo_node/delta_joint_cmds", "/servo_node/delta_joint_cmds"),
# ("/l_down_servo_node/delta_twist_cmds", "/servo_node/delta_twist_cmds"),
# ("/l_down_servo_node/publish_planning_scene","/servo_node/publish_planning_scene")
# ],
)
ld.add_action(l_down_servo_node)

l_up_servo_node = Node(
    package="moveit_servo",
    executable="servo_node_main",
    #name="l_up_servo_node",

    parameters=[
        servo_params_l_up,
        moveit_config.robot_description,
        moveit_config.robot_description_semantic,
        moveit_config.robot_description_kinematics,
    ],
    output="screen",
)
ld.add_action(l_up_servo_node)

Expected behavior

Each servo node controls its corresponding end-effector.

Actual behavior

The end-effectors of multiple move groups will move simultaneously.

Backtrace or Console output