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How to receive joint angles for a Robot using RViz Moveit

asked 2023-07-19 07:55:33 -0500

Josin gravatar image

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.

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answered 2023-07-21 05:05:18 -0500

bluegiraffe-sc gravatar image

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.

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Asked: 2023-07-19 07:55:33 -0500

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Last updated: Jul 21 '23