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How to get the trajectory data generated by MotionPlanning when using the MotionPlanning Rviz plugin?

asked 2021-11-19 03:38:37 -0500

mug

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As the picture shows, in the Planning tab (at the bottom), once I press the Plan button, and then I am able to see a visualization of the arm moving and a trail. I wanna know how can I get the trajectory data (described in moveit_msgs::RobotTrajectory) of this planning? Does it need to subscribe to a specific topic to get it? Any advice would be greatly appreciated.

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answered 2022-01-19 19:47:17 -0500

mug

33 ●4 ●7 ●10

I subscribed to the /move_group/display_planned_path topic, which seems to have the planned path data.

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Asked: 2021-11-19 03:38:37 -0500

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Last updated: Jan 19 '22

How to get the trajectory data generated by MotionPlanning when using the MotionPlanning Rviz plugin? edit

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How to get the trajectory data generated by MotionPlanning when using the MotionPlanning Rviz plugin?