display_path_ =
      context_->moveit_cpp_->getNode()->create_publisher<moveit_msgs::msg::DisplayTrajectory>(DISPLAY_PATH_TOPIC, 10);

[move_group-4] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[move_group-4]   what():  could not create publisher: create_publisher() called for existing topic name rt/display_planned_path with incompatible type moveit_msgs::msg::dds_::DisplayTrajectory_, at ./src/publisher.cpp:145, at ./src/rcl/publisher.c:117
[move_group-4] Stack trace (most recent call last):
[move_group-4] #22   Object "", at 0xffffffffffffffff, in 
[move_group-4] #21   Object "/home/sebastian/workspace/moveit_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x557090e89f04, in _start
[move_group-4] #20   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7f98f8c29e3f]
[move_group-4] #19   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7f98f8c29d8f]
[move_group-4] #18   Object "/home/sebastian/workspace/moveit_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group", at 0x557090e890d3, in main
[move_group-4] #17   Object "/home/sebastian/workspace/moveit_ws/install/moveit_ros_planning/lib/libmoveit_cpp.so.2.8.0", at 0x7f98f9a5c496, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptr<rclcpp::Node> const&, moveit_cpp::MoveItCpp::Options const&)
[move_group-4] #16   Object "/home/sebastian/workspace/moveit_ws/install/moveit_ros_planning/lib/libmoveit_cpp.so.2.8.0", at 0x7f98f9a5b3fb, in moveit_cpp::MoveItCpp::loadPlanningPipelines(moveit_cpp::MoveItCpp::PlanningPipelineOptions const&)
[move_group-4] #15   Object "/home/sebastian/workspace/moveit_ws/install/moveit_ros_planning/lib/libmoveit_planning_pipeline_interfaces.so.2.8.0", at 0x7f98f92d8acf, in moveit::planning_pipeline_interfaces::createPlanningPipelineMap(std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptr<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[move_group-4] #14   Object "/home/sebastian/workspace/moveit_ws/install/moveit_ros_planning/lib/libmoveit_planning_pipeline.so.2.8.0", at 0x7f98f8ebb968, in planning_pipeline::PlanningPipeline::PlanningPipeline(std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptr<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[move_group-4] #13   Object "/home/sebastian/workspace/moveit_ws/install/moveit_ros_planning/lib/libmoveit_planning_pipeline.so.2.8.0", at 0x7f98f8ee76a7, in void planning_pipeline::loadPluginVector<planning_interface::PlanningResponseAdapter>(std::shared_ptr<rclcpp::Node> const&, std::unique_ptr<pluginlib::ClassLoader<planning_interface::PlanningResponseAdapter>, std::default_delete<pluginlib::ClassLoader<planning_interface::PlanningResponseAdapter> > > const&, std::vector<std::shared_ptr<planning_interface::PlanningResponseAdapter const>, std::allocator<std::shared_ptr<planning_interface::PlanningResponseAdapter const> > >&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[move_group-4] #12   Object "/home/sebastian/workspace/moveit_ws/install/moveit_ros_planning/lib/libmoveit_default_planning_response_adapter_plugins.so.2.8.0", at 0x7f98c37ab05d, in default_planning_response_adapters::DisplayMotionPath::initialize(std::shared_ptr<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[move_group-4] #11   Object "/home/sebastian/workspace/moveit_ws/install/moveit_ros_planning/lib/libmoveit_default_planning_response_adapter_plugins.so.2.8.0", at 0x7f98c37a750d, in std::shared_ptr<rclcpp::Publisher<moveit_msgs::msg::DisplayTrajectory_<std::allocator<void> >, std::allocator<void> > > rclcpp::detail::create_publisher<moveit_msgs::msg::DisplayTrajectory_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<moveit_msgs::msg::DisplayTrajectory_<std::allocator<void> >, std::allocator<void> >, rclcpp::Node, rclcpp::Node>(rclcpp::Node&, rclcpp::Node&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&, rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)
[move_group-4] #10   Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7f98f954cb1b, in rclcpp::node_interfaces::NodeTopics::create_publisher(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::PublisherFactory const&, rclcpp::QoS const&)
[move_group-4] #9    Object "/home/sebastian/workspace/moveit_ws/install/moveit_ros_planning/lib/libmoveit_default_planning_response_adapter_plugins.so.2.8.0", at 0x7f98c37a6c3e, in std::_Function_handler<std::shared_ptr<rclcpp::PublisherBase> (rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&), rclcpp::create_publisher_factory<moveit_msgs::msg::DisplayTrajectory_<std::allocator<void> >, std::allocator<void>, rclcpp::Publisher<moveit_msgs::msg::DisplayTrajectory_<std::allocator<void> >, std::allocator<void> > >(rclcpp::PublisherOptionsWithAllocator<std::allocator<void> > const&)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}>::_M_invoke(std::_Any_data const&, rclcpp::node_interfaces::NodeBaseInterface*&&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)
[move_group-4] #8    Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7f98f95986cb, in rclcpp::PublisherBase::PublisherBase(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rosidl_message_type_support_t const&, rcl_publisher_options_s const&, rclcpp::PublisherEventCallbacks const&, bool)
[move_group-4] #7    Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7f98f94fe6d8, in rclcpp::exceptions::throw_from_rcl_error(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rcutils_error_state_s const*, void (*)())
[move_group-4] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f98f90ae1fd, in std::rethrow_exception(std::__exception_ptr::exception_ptr)
[move_group-4] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f98f90ae276, in std::terminate()
[move_group-4] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f98f90ae20b, in 
[move_group-4] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f98f90a2b9d, in 
[move_group-4] #2    Source "./stdlib/abort.c", line 79, in abort [0x7f98f8c287f2]
[move_group-4] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x7f98f8c42475]
[move_group-4] #0  | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[move_group-4]     | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[move_group-4]       Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7f98f8c969fc]
[move_group-4] Aborted (Signal sent by tkill() 494385 1000)