Moveit! getJacobian

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Dear all,

We are using getJacobian method of robot_state::JointStateGroup instance and we always get the same values, as the arm will be in its home position, although the robot is in another pose.

We are using Ubuntu 12.04 Groovy. The code that we are executing is:

        kinematic_state = group->getCurrentState();
    kinematic_state->getStateValues(joint_states);

    joint_state_group = kinematic_state->getJointStateGroup("robuarm");

    joint_state_group->getVariableValues(joint_states);
    ROS_INFO_THROTTLE(1,"Get joint vals --> %f %f %f %f %f %f", joint_states[0], joint_states[1], joint_states[2], joint_states[3], joint_states[4], joint_states[5]);

    //getJacobian
    joint_state_group->getJacobian(joint_state_group->getJointModelGroup()->getLinkModelNames().back(),
            reference_point_position, jacobian);

With ROS_INFO sentence we have ensured that thet joints values are the correct ones.

Does anybody know what could be the problem?

Thanks

Ane