rostopic echo /move_group/goal

move_group_goal.log

 rostopic echo /move_group/goal
header: 
  seq: 16
  stamp: 
    secs: 1540832122
    nsecs: 268742089
  frame_id: ''
goal_id: 
  stamp: 
    secs: 1540832122
    nsecs: 268742623
  id: "/rviz_aderic_plusone_laptop_28081_1177254288827358629-17-1540832122.268742623"
goal: 
  request: 
    workspace_parameters: 
      header: 
        seq: 0
        stamp: 
          secs: 1540832122
          nsecs: 268678835
        frame_id: "/world"
      min_corner: 
        x: -1.0
        y: -1.0
        z: -1.0
      max_corner: 
        x: 1.0
        y: 1.0
        z: 1.0
    start_state: 
      joint_state: 
        header: 
          seq: 0
          stamp: 
            secs: 0
            nsecs:         0
          frame_id: ''
        name: []
        position: []
        velocity: []
        effort: []
      multi_dof_joint_state: 
        header: 
          seq: 0
          stamp: 
            secs: 0
            nsecs:         0
          frame_id: ''
        joint_names: []
        transforms: []
        twist: []
        wrench: []
      attached_collision_objects: []
      is_diff: True
    goal_constraints: 
      - 
        name: ''
        joint_constraints: 
          - 
            joint_name: "shoulder_pan_joint"
            position: 0.0
            tolerance_above: 0.0001
            tolerance_below: 0.0001
            weight: 1.0
          - 
            joint_name: "shoulder_lift_joint"
            position: -1.5707
            tolerance_above: 0.0001
            tolerance_below: 0.0001
            weight: 1.0
          - 
            joint_name: "elbow_joint"
            position: 0.0
            tolerance_above: 0.0001
            tolerance_below: 0.0001
            weight: 1.0
          - 
            joint_name: "wrist_1_joint"
            position: -1.5707
            tolerance_above: 0.0001
            tolerance_below: 0.0001
            weight: 1.0
          - 
            joint_name: "wrist_2_joint"
            position: 0.0
            tolerance_above: 0.0001
            tolerance_below: 0.0001
            weight: 1.0
          - 
            joint_name: "wrist_3_joint"
            position: 0.0
            tolerance_above: 0.0001
            tolerance_below: 0.0001
            weight: 1.0
        position_constraints: []
        orientation_constraints: []
        visibility_constraints: []
    path_constraints: 
      name: ''
      joint_constraints: []
      position_constraints: []
      orientation_constraints: []
      visibility_constraints: []
    trajectory_constraints: 
      constraints: []
    planner_id: "RRTConnectkConfigDefault"
    group_name: "manipulator"
    num_planning_attempts: 10
    allowed_planning_time: 5.0
    max_velocity_scaling_factor: 1.0
    max_acceleration_scaling_factor: 1.0
  planning_options: 
    planning_scene_diff: 
      name: ''
      robot_state: 
        joint_state: 
          header: 
            seq: 0
            stamp: 
              secs: 0
              nsecs:         0
            frame_id: ''
          name: []
          position: []
          velocity: []
          effort: []
        multi_dof_joint_state: 
          header: 
            seq: 0
            stamp: 
              secs: 0
              nsecs:         0
            frame_id: ''
          joint_names: []
          transforms: []
          twist: []
          wrench: []
        attached_collision_objects: []
        is_diff: True
      robot_model_name: ''
      fixed_frame_transforms: []
      allowed_collision_matrix: 
        entry_names: []
        entry_values: []
        default_entry_names: []
        default_entry_values: []
      link_padding: []
      link_scale: []
      object_colors: []
      world: 
        collision_objects: []
        octomap: 
          header: 
            seq: 0
            stamp: 
              secs: 0
              nsecs:         0
            frame_id: ''
          origin: 
            position: 
              x: 0.0
              y: 0.0
              z: 0.0
            orientation: 
              x: 0.0
              y: 0.0
              z: 0.0
              w: 0.0
          octomap: 
            header: 
              seq: 0
              stamp: 
                secs: 0
                nsecs:         0
              frame_id: ''
            binary: False
            id: ''
            resolution: 0.0
            data: []
      is_diff: True
    plan_only: False
    look_around: False
    look_around_attempts: 0
    max_safe_execution_cost: 0.0
    replan: False
    replan_attempts: 0
    replan_delay: 2.0