Moveit Forward Kinematics for Empty Joint State
I'm using the /compute_fk service from moveit to calculate forward kinematics. This works as I expected except for the case of an empty joint state given as the current joint state to the service. In that case, the service calculates the FK for the current pose of the link, e.g., the end effector. Should not the Forward Kinematics calculation fail if the joint angles are equal to the zero vector?