How to find the end effector positions/co-ordinates for the whole plan (trajectory) in 'MoveIt!' ?
I am using the C++ interface for motion planning in MoveIt! (ROS Melodic). For a particular trajectory (or plan), I observed that it is possible to extract joint positions, velocities etc. Also, it is possible to extract end-effector position and orientation for the current pose. But I want to monitor the positions and orientations through which the end-effector passes in the whole path/trajectory while reaching the final goal pose. This can require extracting all those orientation and position co-ordinates of the end effector for the whole trajectory (in the plan). Could you please mention the ways in which this can be possibly achieved?