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MoveIt behaves differently when planning by using the RViz plugin versus sending commands to the Move Group (in a scenario where you are using motion planning in the robot logic as opposed to validating/troubleshooting your model).

While motion planning requests to the real API let you configure goal tolerances, RViz did not let you do it when using the MoveIt plugin with fake controllers. I added this feature with Read Goal Tolerances from Kinematics Configuration pull request.

Now you can:

• Enter goal tolerances per move group by using MoveIt Setup Assistant (see joint, position and orientation tolerance spinners)

• Enter goal tolerances manually by editing kinematics.yaml generated by MoveIt Setup Assistant

It should work when creating a new MoveIt config or editing an existing MoveIt config, and any values you entered manually by editing the .yaml file should be picked by up MoveIt Setup Assistant and carried forward.

MoveIt behaves differently when planning by using the RViz plugin versus sending commands to the Move Group (in a scenario where you are topic (or using motion planning in the robot logic as opposed to validating/troubleshooting your model).Move Group directly through C++ API).

While motion planning requests to the real API let you configure goal tolerances, RViz did not let you do it when using the MoveIt plugin with fake controllers. I added this feature with Read Goal Tolerances from Kinematics Configuration pull request.

Now you can:

• Enter goal tolerances per move group by using MoveIt Setup Assistant (see joint, position and orientation tolerance spinners)

• Enter goal tolerances manually by editing kinematics.yaml generated by MoveIt Setup Assistant

It should work when creating a new MoveIt config or editing an existing MoveIt config, and any values you entered manually by editing the .yaml file should be picked by up MoveIt Setup Assistant and carried forward.