# Revision history [back]

### Visualizing Trajectory with Moveit on RVIZ

Hi everyone, I am using universal_robot and moveit packages to work on ur10 robot's rviz simulations. When I was following the tutorials for panda robot on moveit, i was able to move the robot to a desired pose by setting the position and orientation and visualizing the trajectory that it follows. I created my own node for the same purpose on ur10 and I I am able to plan the movement and see it on RVIZ, however I can't visualize the trajectory that it follows. I am not even sure if it's code related or activating some kind of check boxes on RVIZ. Here is what my code for visualization part looks like

moveit_visual_tools::MoveItVisualTools visual_tools("base_link");
visual_tools.publishAxisLabeled(target_pose1, "pose1");
visual_tools.publishText(text_pose, "Pose Goal", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);


### Visualizing Trajectory with Moveit on RVIZ

Hi everyone, I am using universal_robot and moveit packages to work on ur10 robot's rviz simulations. When I was following the tutorials for panda robot on moveit, i was able to move the robot to a desired pose by setting the position and orientation and visualizing the trajectory that it follows. I created my own node for the same purpose on ur10 and I I am able to plan the movement and see it on RVIZ, however I can't visualize the trajectory that it follows. I am not even sure if it's code related or activating some kind of check boxes on RVIZ. Here is what my code for visualization part looks like

moveit_visual_tools::MoveItVisualTools visual_tools("base_link");
visual_tools.publishAxisLabeled(target_pose1, "pose1");
visual_tools.publishText(text_pose, "Pose Goal", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);


I am using ur10_moveit_config demo.launch file.

### Visualizing Trajectory with Moveit on RVIZ

Hi everyone, I am using universal_robot and moveit packages to work on ur10 robot's rviz simulations. When I was following the tutorials for panda robot on moveit, i was able to move the robot to a desired pose by setting the position and orientation and visualizing the trajectory that it follows. I created my own node for the same purpose on ur10 and I I am able to plan the movement and see it on RVIZ, however I can't visualize the trajectory that it follows. I am not even sure if it's code related or activating some kind of check boxes on RVIZ. Here is what my code for visualization part looks like

moveit_visual_tools::MoveItVisualTools visual_tools("base_link");
visual_tools.publishAxisLabeled(target_pose1, "pose1");
visual_tools.publishText(text_pose, "Pose Goal", rvt::WHITE, rvt::XLARGE);
visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);


I am using ur10_moveit_config demo.launch file.