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I initiate the demo of the default panda arm in rviz that comes with the tutorials:

ros2 launch moveit_resources_panda_moveit_config demo.launch.py

and now I want to send a pose in x,y,z world frame coordinates via action. I.e. it can be done c++ as described here:

https://moveit.picknik.ai/galactic/doc/examples/move_group_interface/move_group_interface_tutorial.html#

how can i just send a goal, like a pose, via ros2 action send_goal so that I can drive to it in rviz from terminal or python script for example?

Thank you in advance!

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  • $\begingroup$ Have you tried following the tutorial for sending a goal to an action server without an action client? It'd be easier for you to follow along with that tutorial and then come back with any specific issues you're having with it. $\endgroup$
    – Chuck
    Aug 18 at 20:13
  • $\begingroup$ I actually did that tutorial already. I am also confident to write my own client for an action server. the problem i face is, I found no description which action i should send a goal and where in that message. following actions are available: /execute_trajectory /move_action /panda_arm_controller/follow_joint_trajectory /panda_hand_controller/gripper_cmd I guess it is /move_group with .action type moveit_msgs/action/MoveGroup which is huge. In the turtlesim tutorial there are just a few parameters to send a goal to. $\endgroup$
    – Meik
    Aug 18 at 20:19

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