ROS Programming: Building Powerful Robots

Displaying the target motion

MoveIt! provides a set of messages that can be used to communicate visualization information, essentially providing it with the planned path in order to get a nice visualization of how the arm is going to move to achieve its goal. As usual, communication is performed through a topic, which needs to be advertised:

ros::Publisher display_pub =  nh.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_ planned_path", 1, true);

The message we need to publish requires the start state of the trajectory and the trajectory itself. In order to obtain such information, we always need to perform planning using the planning group interface first, and using the created plan, we can proceed to fill in the message: ...