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interrupt trajectory visualization on arrival of new display trajectory #612
A failed planning request often results in a rather long display trajectory. However, the next trajectory was only displayed, when the current one has finished.
I'm thrilled you've addressed this issue, @rhaschke! Failed planning attempts meant wasting 20 seconds while the robot flails wildly in RViz...
Not having worked on the internals of RViz or MoveIt before, I will defer making a technical review to others that have more experience with them. But with just a cursory glance, I think these changes look good. I very much want to see this merged.