# Revision history [back]

Hi! i don't known if it helps but here my way of planning:

First, i do a planning by joints, in other words i do the "Planning to a joint-space goal" from the move_group_interface_tutorial.cpp

Second i do a reading of eef position with this code:

  geometry_msgs::PoseStamped robot_pose;
robot_pose = group.getCurrentPose();

geometry_msgs::Pose current_position;
current_position = robot_pose.pose;

/*Retrive position and orientation */
geometry_msgs::Point exact_pose = current_position.position;
geometry_msgs::Quaternion exact_orientation = current_position.orientation;

ROS_INFO("Reference frame : %s",group.getPlanningFrame().c_str());