Well, I am working on this topic either. And I notice there is a method(allowReplanning) in class (moveit::planning_interface::MoveGroupInterface). I overlook into it and realize it's nothing but a setting on boolean value(Dont' understand why they apply this though). Maybe you can try this whether useful... --- [Visit Topic](https://discourse.ros.org/t/online-replanning-through-moveit-withouth-stopping-motion/5024/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: