Visualize joint position values in RViz plugin: Motion Planning Tasks

[captain-yoshi]

Is there a way to see joint positions for each trajectories computed by MTC in RViz plugin? I can set the Link Tree Style to joint mode, but all I see is cartesian positions.

I am sometimes close to joint limits when planning and it would be nice to see if it failed because it is near those limits.

[rhaschke]

Currently, we don't have a feature showing the joint values within its limits. I was in need of this in the past too, but didn't find a suitable way to present the joint values of the trajectory. If you have an idea, please tell me.