How to get robot Trajectory from move_base
Hello, I am new to ROS, and I am currently working on an android app to guide people in an indoor environment. I am using a picture of the environment and I would like to show on it the robot trajectory as shown on rviz. Is it possible? I tried to use a subscriber to the topic /move_base/TrajectoryPlannerROS/global_plan but it seems like the same set of Path messages (x, y, z...) is published periodically whatever the goal is (I noticed that using rostopic echo), while on rviz the trajectory changes. Am I doing it wrong?
Thank you in advance for your help
Edit : Here is what I get on rviz (global plan in pink) :
And what my app draws basing on the x and y from position published on global_plan (the blue line)