As in rviz we can visualize the start and goal state to make a plan, I would like to visualize the goal state before executing the move from code. Move group plan does animate the path in rviz, but its not as good as visualizing a steady goal state pose.
How can I visualize a steady goal state pose via moveit from code (not from rviz visual interface) and how can it be updated when a target pose is set for the group?
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