在rviz中查看障碍
Motion Planning ->Planning Scence Topic 中选择 /move_group/monitored_planning_Scence主题
ros rviz 插件开发
http://docs.ros.org/indigo/api/rviz_plugin_tutorials/html/
https://blog.csdn.net/feidaji/article/details/84638395
三种方法在ROS中加载Qt库进行GUI设计
https://blog.csdn.net/u014610460/article/details/79355533
ROS与C++入门教程-搭建开发环境(QT+ros_qtc_plugin)
https://www.ncnynl.com/archives/201701/1277.html
ROS之rviz显示历史运动轨迹、路径的各种方法(visualization_msgs/Marker、nav_msgs/Path)
https://blog.csdn.net/u013834525/article/details/80447931
ROS在rviz中实时显示轨迹(nav_msgs/Path消息的使用)
https://blog.csdn.net/ktigerhero3/article/details/70256437