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I kind of figure the solution:

Instead of computing forward kinematic from goal_state, I compute the forward kinemacit from robot_state, which is defined as

robot_state::RobotStatePtr robot_state(new robot_state::RobotState(robot_model));

and it works well.

I have no idea why this happen as the goal state should be equivalent to the robot_state.

It would be great if someone can tell me the reason.

I kind of figure the solution:

Instead of computing forward kinematic from goal_state, I compute the forward kinemacit from robot_state, which is defined as

robot_state::RobotStatePtr robot_state(new robot_state::RobotState(robot_model));

and it works well.

I have no idea why this happen as the goal state goal_state should be equivalent to the robot_state.

It would be great if someone can tell me the reason.

I kind of figure out the solution:

Instead of computing forward kinematic from goal_state, I compute the forward kinemacit from robot_state, which is defined as

robot_state::RobotStatePtr robot_state(new robot_state::RobotState(robot_model));

and it works well.

I have no idea why this happen as the goal_state should be equivalent to the robot_state.

It would be great if someone can tell me the reason.