My question is, how does moveit motionplannig plugin for rviz displays the preview?
(example image at the end)
I'd like to incorporate something similar in my program, but without the whole moveit or interactive markers.
So then I could stend something like joint states to it and see how it will look like.
I guess its not with the joint_state_publisher/robot_state_publisher, because for that I have to include some duplicates in the urdf, and i want to avoid that.
For example the orage arm here:
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