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moveit visualize steady goal state

As in rviz we can visualize the start and goal state to make a plan, I would like to visualize the goal state before executing the move from code. Move group plan does animate the path in rviz, but its not as good as visualizing a steady goal state pose.

How can I visualize a steady goal state pose via moveit from code (not from rviz visual interface) and how can it be updated when a target pose is set for the group?

Asked by Sumit Dey on 2017-01-11 03:37:17 UTC

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Answers

You can publish the robot goal state as a message from your code using conversion methods such as those shown here. However, you will still need rviz's RobotState display in order to visualize the state.

Asked by jrgnicho on 2017-01-12 10:40:31 UTC

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