MoveIt! endeffectors and groups
It seems like the way MoveIt! uses planning groups has changed a bit from the last time I tried it. Now, to be able to specify a goal pose using interactive markers, the arm planning group has to be split up into a arm part (for which the kinematics solver is set) and a endeffector part (see for example the PR2 tutorial). This works well if the arm used has a dedicated endeffector link rigidly attached to the last link of the arm. But what should be done if that is not the case? I suppose one could add "fake endeffector link" to the URDF, but that seems a bit cumbersome and unnecessarily complicated.