Rviz moveit plugin show current robot state
Hey,
we are trying to integrate our custom robot into the Moveit! framework. We are able to create and execute plans on the real robot using the rviz moveit motion planning plugin.
However, the shown robot state is not updated live in Rviz. When we manually move the robot, the visual representation in Rviz does not move at all, although the joint states are published correctly. We have to reset Rviz or the plugin to make it show the current state. I.e. it looks like it's taking a snapshot of the robot state at rviz startup and doesn't update it later.
If we activate the Robot Model plugin in Rviz, the shown representation moves correctly according to the real robot movement.
Are we doing something wrong or is the Rviz moveit plugin somehow assuming that the robot can only be moved by trajectory commands?
Best regards Mark
Is this the actual robot model that you're looking at, or the MoveIt Start / Goal state visualisation?
I think so, since the Start and Goal states are green/orange and the actual robot model is gray, isn't it?
Btw. when we publish the joint states, we leave the header.frame_id and the velocity/effort arrays empty. Is that ok?
Yes, that sounds like you got the visualisation setup ok.
re: joint states: yes, that is ok.
frame_idis only used for messages that can be related to a Cartesian frame, which joint state by definition cannot be. And for everything you don't have the data for, leave the field empty.Thanks a lot, that was it!!
Great! I moved my comment to an answer so that your question now shows up as having an answer.