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moveit / moveit_visual_tools

Helper functions for displaying and debugging MoveIt! data in Rviz via published markers
BSD 3-Clause "New" or "Revised" License
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Setting end-effector joint values #18

Closed simonschmeisser closed 6 years ago

simonschmeisser commented 6 years ago

Hi Dave,

It looks like it is currently not possible to set the joint value for active joints in the gripper. The relative position of all endeffector components is computed in loadEEMarker but based on default robot state https://github.com/ros-planning/moveit_visual_tools/blob/d315b5c3961f7f59706b65ba2ab996ce65740121/src/moveit_visual_tools.cpp#L247

Would you approve a new parameter to loadEEMarker or an overload passing lets say a sensor_msgs::JointState or a trajectory_msgs::JointTrajectoryPoint?

Or rather a parameter to MoveItVisualTools::publishEEMarkers?

I can do a PR then

Thanks Simon

davetcoleman commented 6 years ago

That sounds great, yes!