I am working with MoveIt! and I already set up my robot through the setup assistant, and In Rivz I can see the start and goal state, in green and orange. I can manually move the orange goal state from Rviz and then plan and execute a trajectory in order to reach it. Otherwise, I have a piece of code that sets a goal trajectory and plans and executes the whole trajectory to it.
But I would like to just move the goal state (the orange) to a new position through a piece of code, without planning any trajectory. Just changing the goal state. How can I do it?
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