Hello, everyone.
I'm now using Moveit and Rviz plugin to calculate trajectories, and because I need to modify the trajectories so I write an extra python script to execute them. However, I noticed the "Plan" command does not update robot state if I don't use the "Execute" command in Rviz plugin.
The steps I'm using are:
(1) Calculate a trajectory by Clicking the "Plan" command in move group Rviz Plugin.
(2) An extra python script subscribes to the "/move_group/display_planned_path" topic, edit the trajectory and then send to action server.
This works on my first planning attempt, and I can see the "/move_group/monitored_planning_scene" topic updates the robot state. However, if I try to plan again, the "Plan" command does not use current robot state. Instead, it still uses the initial one, unless I click the "Execute" Commands.
Is there any method to update the current robot state to the "Plan" command without using "Execute" command?
Thank you very much!
Xuan
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