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I guess you can you can use the member function of robot_trajectory::RobotTrajectory class to get the info of waypoints.

To convert the move_group plan to robot_trajectory::RobotTrajectory:

 moveit::core::RobotModelConstPtr robot_model=group.getRobotModel();
 robot_trajectory::RobotTrajectory trajectory(robot_model, planning_group);
 trajectory.setRobotTrajectoryMsg(*(group.getCurrentState()),plan.trajectory_);