How to get the goal state of Rviz by programming?
In the Rviz, I drag the marker on an arm of robot, then the orange color represent the goal state. How to get the goal state（just the orange arm） by programming? I want to get the orange arm's state(just every joint's angle), could you help me? Because the orange's arm is goal state ，is not current state. So I can't get the state by move_group.getCurrentState().
Have you investigated the interactive_markers or the moveit_visual_tools packages as suggested by the answer on that ticket?