Hello,
I want to view the trajectory generated by moveit in gazebo.
I have done motion planning using moveit c++ interface and i'm observing the robot movement in Rviz.
The code moveit c++ interface is [here](https://github.com/mvish7/panda_gazebo_moveit/blob/master/panda_gazebo_config/src/panda_move_group.cpp).
I have already taken [ROS_CONTROL](http://gazebosim.org/tutorials/?tut=ros_control) tutorial and i send commands to individual joints and see them moving in Gazebo.
Here are the [controllers](https://github.com/mvish7/panda_gazebo_moveit/blob/master/panda_control/config/panda_control%20_working.yaml) i'm using so that i can send individual joint commands.
My questions are as follows:
1. What kind of controllers are necessary to observe the trajectory generated by moveit in gazebo? Can anybody give some example??
2. I know that moveit c++ interface communicates with Rviz by using some ROS topics/ Actions?
How can i find over which topic/action moveit c++ interface communicates with rviz so that i can use it same ROS topic/action to communicate with Gazebo.
Any kind of help is appreciated.
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