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Yes, just use a RobotModel or RobotState in C++ as described in the tutorial. Your copy will not be updated to the "current"/"real" robot state, and you can define its state freely. You can copy most of the code from the compute_fk service, as you assumed.

The compute_fk service is a move_group_capability (a plugin that is started up by the move_group node) that is defined here. The move_group's plugin-based structure is a bit confusing to read, but this explanation should help.

I notice that you didn't really ask a question, but I hope that solved what you were getting at.

Yes, just use a RobotModel or RobotState in C++ as described in the tutorial. Your copy will not be updated to the "current"/"real" robot state, and you can define its state freely. You can copy most of the code from the compute_fk service, as you assumed.

The compute_fk service is a move_group_capability (a plugin that is started up by the move_group node) that is defined here. The move_group's plugin-based structure is a bit confusing to read, but this explanation should help.

I notice that you didn't really ask a question, but I hope that solved what you were getting at.

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Yes, just use a RobotModel or RobotState in C++ as described in the tutorial. Your copy will not be updated to the "current"/"real" robot state, and you can define its state freely. You can copy most of the code from the compute_fk service, as you assumed.

The compute_fk service is a move_group_capability (a plugin that is started up by the move_group node) that is defined here. The move_group's plugin-based structure is a bit confusing to read, but this explanation should help.

I hope that solved what you were getting at.