Project architecture and RViz

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Hi everyone,

I would like to know if the following architecture sounds correct / relevant to you, concerning its interaction with RViz:

We're designing a robot, made of a robotic arm (UR5) mounted on a mobile base. In RViz, we'll display a .step file (from CAD software, STEP parser homemade) holding some B-Spline surfaces and curves, and we want the arm's tip to move along such surfaces / curves. To do so, with the _MoveIt!_ package we'll do the trajectory planification, sample this trajectory, do the IK with _MoveIt!_ again, send it to a ROS controller, then loop it to RViz for visualization feedback.

Does anything sound wrong to you? At least is it clear enough?

Thanks for your reply.

Matthieu.