How to get the goal state of Rviz by programming?

[LMNcnu]

In the Rviz, I drag the marker on an arm of robot, then the orange color represent the goal state. How to get the goal state of Rviz by programming?

[davetcoleman]

Create your own interactive markers and connect to an IK solver using custom code. Or use my pre-made version available in moveit_visual_tools

[LMNcnu]

Hi，I want to get the orange arm's state(just every joint's angle), could you tell me?
Because the orange's arm is goal state ，is not current state. So I can't get the state by move_group.getCurrentState().

[davetcoleman]

You will need to create your own solution (see above comment of mine) because the GUI you are referring to is not intended to be used along with custom code.

[LMNcnu]

OK，thanks