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Mastering ROS for Robotics Programming - Second Edition by Jonathan Cacace, Lentin Joseph

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Using the RViz Motion Planning plugin

From the preceding figure , we can see that the RViz-Motion Planning plugin is loaded on the left side of the screen. There are several tabs on the Motion Planning window, such as Context, Planning, and so on. The default tab is the Context tab and we can see the default Planning Library as OMPL, which is shown in green. It indicates that MoveIt! successfully loaded the motion planning library. If it is not loaded, we can't perform motion planning.

Next is the Planning tab. This is one of the frequently used tabs used to assign the Start State, Goal State, Plan a path, and Execute the path. Shown next is the GUI of the Planning tab:

Figure 12: MoveIt! -RViz Planning tab

We can assign the start state ...

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