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moveit visualize steady goal state

asked 2017-01-11 02:37:17 -0500

Sumit Dey gravatar image

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?

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answered 2017-01-12 09:40:31 -0500

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.

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Asked: 2017-01-11 02:37:17 -0500

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Last updated: Jan 12 '17