Change Start position of Quadrotor using moveit

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Hi everyone,

             I am trying to use moveit package for planning path of my quadrotor. I have been able to publish goal points for the quadrotor to move, however, as moveit takes initial position from joint space, the start position is always fixed to [0,0,0,0,0,0,1]. I want to know if its possible to change the start position.

P.N. - Since this a quadrotor, there's no end effector and hence I cannot use this snippet to change the start position.

robot_state::RobotState start_state(*group.getCurrentState()); geometry_msgs::Pose start_pose2; start_pose2.orientation.w = 1.0; start_pose2.position.x = 0.55; start_pose2.position.y = -0.05; start_pose2.position.z = 0.8; const robot_state::JointModelGroup *joint_model_group = start_state.getJointModelGroup(group.getName()); start_state.setFromIK(joint_model_group, start_pose2); group.setStartState(start_state);

Thanks in advance Poulastya