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getCurrentPose reports the pose of the end effector link. The frame it is referenced to can be read from the header of PoseStamped.
For looking up arbitrary links you could just use tfs. If it's a link on your robots kinematic chain you could also reset the end effector link before getting the pose.
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getCurrentPosegetCurrentPose (C++)/ get_current_pose (Python) reports the pose of the end effector link. The frame it is referenced to can be read from the header of PoseStamped.
For looking up arbitrary links you could just use tfs. If it's a link on your robots kinematic chain you could also reset the end effector link before getting the pose.
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