Get position of the end-effector after a plan request. [closed]
Currently what I can seem to do with the C++ moveGroupInterface is that I can provide a setJointValueTarget and perform a mission PLAN, I get an output with only the trajectory (jointStates) for the robot arm.
What I would also like to know is the position of the end link (end-effector) in the form of geometry_msgs/PoseStamped so that I am able to plan tasks accordingly.
Also, I have noticed that RViz displays the position of the end-link (' end_point ' in this case) under the tab planned path and links.
If there is a way to get the position information for the movGroupInterface or RViz, please help me out.
Closed for the following reason
the question is answered, right answer was accepted by
aaryanmurgunde
close date 2022-02-09 08:53:02.261660
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