Can I create a Controlled Visualization of moveit in RViz?

asked 2021-02-24 14:56:31 -0500

srujan gravatar image

I want to have a control on what and when I visualize on RViz. Is that possible?

For example, I am using moveit to do motion planning stuff, Lets say my motion planning pipeline takes a minute to finish. Now I want to visualize the scene only for every 5 seconds. So, Can I make a request to RViz to visualize only specific scenes/states?

Is this even possible? could you provide me few resources/insights into this and how to do it? I couldn't find any helpful resources in my searches so far.

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