working of the visualisations about moveit_grasps

[mlautman]

These are really good questions for @davetcoleman.

trigger() is inherited from rviz_visual_tools which only publishes the RViz markers. moveit_visual_tools uses it's parent class' implementation so batch publishing is only available for RViz markers. The robot state and trajectory publishers in moveit_visual_tools publish as soon as you call the publish functions.

One use case for having multiple rviz_visual_tools and moveit_visual_tools objects is that they can each have different topics that they publish to which essentially gives you sets of visual objects that you can turn off and on in a single function call.

I don't know about animated grasps.

[davetcoleman]

Mike's answers are correct.

The animated grasps might need better configuring in the yaml file with regards to what end effector is being used. Hard to say.

[davetcoleman]

I believe Mike found an important bug related to this issue:
ros-planning/moveit_visual_tools#36

Perhaps this issue can be closed