How to receive joint angles for a Robot using RViz Moveit

I am simulating a robot in RViz Moveit. I would like to get the joint states, when the manipulator forms a trajectory. Is it possible to get the trajectory.

Asked by Josin on 2023-07-19 07:55:33 UTC

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Answers

Hi!

If you want to monitor the joint values while the trajectory is executed, you can simply subscribe to thejoint_state topic.

If you want to see the planned trajectory before its execution, you can do it programmatically by displaying/saving the trajectory returned by MoveGroup.plan() from the MoveIt planning interface.

Asked by bluegiraffe-sc on 2023-07-21 05:05:18 UTC