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The notion of an "end-effector" does not exist in TF, it is part of the semantics of the robot, and therefore is part of the SRDF. Thus, you should either parse the SRDF, or pass the name of the relevant end effector into the node. The easiest and probably most ROS-like way to do this is to use a parameter -- you aren't actually hard coding the value, but you can set it on startup of the node (even from the launch file that starts the node).