How to control the 'ghost' in MoveIt's Rviz MotionPlanning plugin from code?
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?
Edit: Thanks for the answers, sangfuu and smac. I already checked the tutorial and the move_group API, but I think they don't exactly have what I need. If I understand correctly, the only way to move the ghost is to set a target (setPoseTarget, ...) and then plan the trajectory. That will result in the ghost moving along the trajectory to the goal. On the other hand, I want to directly control it with an input device other than the interactive marker, without any planning (for now). But maybe I missed something, I'll check the api more thoroughly..
Cheers, Tim