FK without using moveit service
Is there a better way to determine forward kinematics for a given joint pose without having to go through MoveIt's FK service? I'm finding I need to call the FK service faster than it's compute time (around 20 ms for me).
I don't think using tf2 is an option, as it will give me the current robot joint state. What I'm looking for is, essentially, a way to use the URDF/robot model to make a fk call with joint angles of my choosing, similar to how it can be done with the moveit service. I found this on the moveit tutorials, which on the surface looks like I'd need to create a "dummy" robot kinematic state and update it's state with my desired joint angles, and then call the getGlobalLinkTransform as indicated. I looked around the moveit repo, and couldn't find where this service even originates. When I load up moveit, a rosservice info /compute_fk says it's launched by move_group but I couldn't find anywhere in there that showed how this was called.
Any thoughts?
