Planning multiple sequential motion in MoveIt RViz
I am using universal robot 10 (Ubuntu 18 - Melodic) in MoveIt RViz, and would like to test different planners with motion planning. I can however only execute 1 move with command roslaunch moveit_ros_benchmarks demo_ur10.launch at once (it will generate a different file for each move). Is there a way I can plan a motion of multiple sequential points and then moving the robot arm from A to B to C to D etc. and generate a file for this entire motion?
There is an answer on a question (https://answers.ros.org/question/2742...) "you can use the plan method to get the path that will be executed, without actually executing it yet. You can then plan the next path by setting the start to be the goal state of the previous motion with setStartState." Is there a way you can do this is RViz only or is there an external code you need to implement in order for this to work?
Furthermore, is there an option to randomly generate 3 out of X predefined points and then move through there points? So if I have let's say "1000 runs" defined in my .yaml file, the robot would generate 3 different points each run and then generate a file I could upload to Planner Arena to benchmark the planners?
Thank you for any answers.
