My use case is: I use moveit to plan the robot arm motion in gazebo. Suppose that i would like to run the TCP along a straight line, what I desire to get is the robot arm TCP deviation between the actual position and the reference position in both joint space and cartesian space in the gazebo simulator when robot is running. It is easy to get the TCP link real position with lookupTransform. However, moveit can plan the path and I can get the infomation about the planned waypoints, but it is an offline output and it has no topic to online publish the command joint states and TCP pose. I think that maybe the solution is that i set the usetime=True, collect the output of the topic displayplannedpath, and publish the command with consideration of the simtime interval.

Is there any approaches that i can directly get the command trajectory value when robot is running?