The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Basically the answer to your question depends on what you mean by "pause the simulation".
Pause gazebo? That's easy.
Pause the visualized trajectory in RViz? That's what the new Trajectory Slider is for.
Pause MoveIt's demo mode? That's not as easy. We could add a new execution mode 'in rviz' (or something like that) to the https://github.com/ros-planning/moveit/tree/kinetic-devel/moveit_plugins/moveit_fake_controller_manager (or write a new fake controller) and publish the last point displayed in RViz back to the fake controller. That way the fake controller could actually "execute" the Trajectory by showing it in RViz. That way you could pause the visualization in RViz and it would actually pause the execution.
It might be that you have to disable trajectory execution monitoring for this to work. At the moment, I'm unsure whether MoveIt monitors the execution process of the fake controllers.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
