Update Query Start / Goal State

[ros-planning]

Update Query Start / Goal State

[v4hn]

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]

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]

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: v4hn/moveit_setup_assistant@3181604

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.