**QUESTION1:**
I wonder **which node is motion planner in moveit**?
This passage raises my question:
> MoveIt! can talk to the motion> planners through the plugin interface.> We can use any motion planner by> simply changing the plugin. This> method is highly extensible so we can> try our own custom motion planners> using this interface. **The move_group> node talks to the motion planner> plugin via the ROS action/services.**> The default planner for the move_group> node is OMPL> (http://ompl.kavrakilab.org/)
**QUESTION2:**
As the **figure shown below**, while there are nodes of **action_topics** in the namespace of **place and pickup** respectively, there is also a node of **action_topics** in the namespace of **move_group**, which **seems redundant to me**, there must be something I misunderstand.
**QUESTION3:**
What's more, **they form a loop in combination with move_group and rviz**, I do not quite understand how things work
Here is the **rqt_graph** for **moveit_config demo.launch**
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