RViZ dies when switching planner during planning/execution

[henningkayser]

Description

[rviz2-1] [INFO] [1654167371.447111830] [move_group_interface]: Execute request accepted
[rviz2-1] terminate called after throwing an instance of 'std::runtime_error'
[rviz2-1]   what():  Node '/rviz2' has already been added to an executor.
[ros2_control_node-5] [INFO] [1654167374.099630144] [panda_arm_controller]: Goal reached, success!
[move_group-4] [INFO] [1654167374.099803062] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'panda_arm_controller' successfully finished
[move_group-4] [INFO] [1654167374.129818174] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status SUCCEEDED ...
[move_group-4] [INFO] [1654167374.129904563] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: SUCCEEDED
 [ERROR] [rviz2-1]: process has died [pid 211840, exit code -6, cmd '/opt/ros/rolling/lib/rviz2/rviz2 -d /home/ubuntu/ws_ros2/install/moveit_resources_panda_moveit_config/share/moveit_resources_panda_moveit_config/launch/moveit.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_iga6iofh --params-file /tmp/launch_params_day9abei --params-file /tmp/launch_params_sew3ilg8 --params-file /tmp/launch_params_2mocdu42'].

Your environment

• ROS Distro: Rolling
• OS Version: e.g. Ubuntu 22.04
• Source build, main

Steps to reproduce

Run RViz, plan and quickly switch the planner.