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  1. Introduction


This package is to plot JointTrajectory message and JointTrajectoryGoal action in real time.

Example in UR5:

Launch fake joint driver for UR5.

 $ roslaunch fake_joint_launch ur5.launch 

Then launch MoveIt!

 $ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true 

Now you can control the UR5 using MoveIt.

Then run rqt and add JointTrajectoryPlot plugin. Choose the trajectory topic.

 $ rqt 

Then you can plot each joint position, velocity and acceleration.

2024-06-22 14:19