Hi guys,
I am fairly new to MoveIt's MotionPlanning API. When adding the MotionPlanning plugin to rviz, a 'ghost' of the controlled robot arm is spawned, along with an interactive marker that can be used to drag it around. Is there also a way to control the ghost (the end effector and the joints) in a cpp node? Can the joint states of this ghost be read out somewhere?
Cheers,
Tim
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