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moveit / moveit_commander

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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Update Query Start / Goal State #52

Open cschindlbeck opened 8 years ago

cschindlbeck commented 8 years ago

Will there be a feature to update the query start/goal state in rViz through the python moveit_commander?

v4hn commented 8 years ago

Currently there is no interface available in the motion_planning_rviz_plugin to set these states from other ros nodes. I would welcome a contribution that adds a ros-service to do that. Once such a service is in place, adding the corresponding client-code to the commander is simple enough.

rhaschke commented 8 years ago

Actually, there is an interface available for this: https://github.com/ros-planning/moveit_ros/blob/kinetic-devel/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp#L203

However, I don't know about it's current state.

v4hn commented 8 years ago

Ok, yes we have code in place to somewhat control the motion planning display. However, the code you refer to only allows to trigger updates of the states from the current planning scene: https://github.com/v4hn/moveit_setup_assistant/commit/3181604e8bf203fe49efd5e02f653006b232b841

If this is all @cschindlbeck is interested in, the answer is "it's already possible". Otherwise we still need methods to set the states from external nodes instead of only refreshing them.