move_group.get_current_pose().pose different from planned and executed pose
Hi everybody.
I've a robot arm mouted on a metal support (0.3 x 0.3 x 0.22 m). I've created an urdf with:
- wolrd link
- metal_support link
- robot arm
I've loaded it in the robot_description param for moveit. I'm also publishing tf_static:
- from world to metal_base
- from metal_base to robot_base
Of course I've also the robot_state_publisher. All seems to work fine in moveit when I plan and execute a target pose: the robot arm changes its configuration so plan is executed without any error. Unfortunately when the execution stops move_group.get_current_pose().pose returns a different pose wrt the planned and executed one. The difference is not random in fact is 0.22 meters that is the metal_support height so it seems that it plans wrt the robot base and get the pose wrt the world link.
Could someone give me some suggestion to get a coherent pose possibly wrt the world link? I hope I explained myself. thank you in advance
