My understanding of the situation: logging in ROS2 is different than ROS1 due to the lack of a singleton (the assumption that there is one ROS node per process). In ROS2 each call to the logger requires you pass in a logger handle, or the node handle. See this discussion to get the full background.

In order to achieve the MVP of moveit2, I recommend we create the ROS2 node as a global variable, or at least the logger handle as a global variable. This will limit moveit2 from having more than one instance in the same process, but we can fix that in the future.

So, in MoveGroup main function we'll need to create this singleton.

This issue is to track the modification of logging in moveit2. @wjwwood is the lead contact for us who is expert on this issue.