MoveIt default frame for compute_ik service
I am trying to use the /compute_ik service which MoveIt advertises. It seems that this service always converts the desired pose into the default_frame as shown here.
It appears that the default frame is /odom, which is the the root of the srdf we are using. This means that the IK call fails if tfdoesn't have information on the odom frame, even if the IK call only pertains to transform downstream. For example, to move the right arm group to a pose expressed in the frame base_link, there's no reason to involve the odom frame.
Am I understanding the situation correctly? And is there a work around to avoid needing the /odom frame?
If the root frame of your URDF is
odomand your giving a goal pose inbase_linkthen there will need to be a transformation betweenodomand base_link available or it will fail.