How to get the goal state of Rviz by programming?

asked 2017-01-06 02:03:53 -0600

lmn gravatar image

In the Rviz, I drag the marker on an arm of robot, then the orange color represent the goal state. How to get the goal state(just the orange arm) by programming? I want to get the orange arm's state(just every joint's angle), could you help me? Because the orange's arm is goal state ,is not current state. So I can't get the state by move_group.getCurrentState().

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Have you investigated the interactive_markers or the moveit_visual_tools packages as suggested by the answer on that ticket?

ahendrix gravatar image ahendrix  ( 2017-01-06 02:19:22 -0600 )edit