Hello

I want to be able to set in python the target of Rviz planning request goal state. From now, I can modify it manually in Rviz but I want to be able to send a message to the topic.

I use Ubuntu 20.04 and ROS Noetic.

Edit: @ljaniec

I am using Moveit and here is the topics I have:

/attached_collision_object
/collision_object
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/franka_control/error_recovery/cancel
/franka_control/error_recovery/feedback
/franka_control/error_recovery/goal
/franka_control/error_recovery/result
/franka_control/error_recovery/status
/franka_gripper/grasp/cancel
/franka_gripper/grasp/feedback
/franka_gripper/grasp/goal
/franka_gripper/grasp/result
/franka_gripper/grasp/status
/franka_gripper/gripper_action/cancel
/franka_gripper/gripper_action/feedback
/franka_gripper/gripper_action/goal
/franka_gripper/gripper_action/result
/franka_gripper/gripper_action/status
/franka_gripper/homing/cancel
/franka_gripper/homing/feedback
/franka_gripper/homing/goal
/franka_gripper/homing/result
/franka_gripper/homing/status
/franka_gripper/joint_states
/franka_gripper/move/cancel
/franka_gripper/move/feedback
/franka_gripper/move/goal
/franka_gripper/move/result
/franka_gripper/move/status
/franka_gripper/stop/cancel
/franka_gripper/stop/feedback
/franka_gripper/stop/goal
/franka_gripper/stop/result
/franka_gripper/stop/status
/franka_state_controller/F_ext
/franka_state_controller/franka_states
/franka_state_controller/joint_states
/franka_state_controller/joint_states_desired
/joint_states
/move_group/cancel
/move_group/display_contacts
/move_group/display_cost_sources
/move_group/display_grasp_markers
/move_group/display_planned_path
/move_group/feedback
/move_group/goal
/move_group/monitored_planning_scene
/move_group/motion_plan_request
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_pipelines/ompl/ompl/parameter_descriptions
/move_group/planning_pipelines/ompl/ompl/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
/pickup/cancel
/pickup/feedback
/pickup/goal
/pickup/result
/pickup/status
/place/cancel
/place/feedback
/place/goal
/place/result
/place/status
/planning_scene
/planning_scene_world
/position_joint_trajectory_controller/command
/position_joint_trajectory_controller/follow_joint_trajectory/cancel
/position_joint_trajectory_controller/follow_joint_trajectory/feedback
/position_joint_trajectory_controller/follow_joint_trajectory/goal
/position_joint_trajectory_controller/follow_joint_trajectory/result
/position_joint_trajectory_controller/follow_joint_trajectory/status
/position_joint_trajectory_controller/state
/recognized_object_array
/rosout
/rosout_agg
/rviz_mdt_432357_1339168635121898414/motionplanning_planning_scene_monitor/parameter_descriptions
/rviz_mdt_432357_1339168635121898414/motionplanning_planning_scene_monitor/parameter_updates
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full
/tf
/tf_static
/trajectory_execution_event