Visualize the planned MoveIt 2 robot arm trajectory in RViz

Steps

1. After cloning, building and sourcing this branch of the repo in your ROS 2 workspace, navigate to the Displays panel on the left, then go to Add > By display type (in rviz2 window) > rviz_default_plugins > MarkerArray > OK.
2. You will see now the MarkerArray in the Displays panel. Then click MarkerArray and in Topic replace the topic name with /summit/trajectory/(joint_name) to visualize its trajectory. For example for arm_tool0, it would be /summit/trajectory/arm_tool0.
3. This trajectory would remain for about 2 mins before disappearing (timing is configurable in the ROS message, here). But then you have to build and source this repo again.
4. The trajectory would look like this:

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