Change the starting point of planning under the plug-in using a topic or service about moveit2

[rhaschke]

To enable external control of the rviz MotionPlanning plugin, you need to tick the corresponding checkbox first:

Then, you can send start / goal states to the topics /rviz/moveit/update_custom_start_state and /rviz/moveit/update_custom_goal_state.
The topics /rviz/moveit/update_start_state and /rviz/moveit/update_goal_state, accepting an empty message, reset the corresponding state to the current one.

[MrVBian]

Add a Topic Monitor picture:

[sjahr]

Please take a look at the tutorials, especially the ones around the move_group interface. For future questions on how to use moveit, please use https://robotics.stackexchange.com/

[MrVBian]

Please take a look at the tutorials, especially the ones around the move_group interface. For future questions on how to use moveit, please use https://robotics.stackexchange.com/

Thank you for your reply. @sjahr

Sorry, after reading the document, I still can't figure out how to change the starting point of the plan through topic or service. Can you give me some more Pointers. For example, which topic or service should I study.

Thanks again for your reply.

[MrVBian]

https://robotics.stackexchange.com/. This question was also asked

[sjahr]

The MotionPlanRequest has a field called start_state you can use to set the start state. The motion plan request can be set either with the move_group interface or moveit_cpp

[MrVBian]

Thanks again for your reply. @sjahr
I think you misunderstood my question.

• The setStartState function in move_group_interface cannot modify the start attitude in rviz. The same cannot be said for MotionPlanRequest.
• What I need is not a custom start point and end point, and then solve a trajectory.

What I need is how to change the green Query start state under the moveit plugin after rviz is started.

[MrVBian]

Thank you for your reply, which answered my question. @rhaschke