Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

Yes, the transform between base_link and gripper_link is expected to change when you move the arm. You´ll have to post more information (for example the actual output of rosrun tf tf_echo base_link gripper_link or and/or your URDF model) for people to be able to give a more detailed answer.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.