What link move_group get current pose refers to?

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I tried to print the output of PointStamped with print(geometry_msgs.msg.PoseStamped()) and got the following output :

position: x: 2.891971438201711e-07 y: -0.24444999999999026 z: 0.8917000428590904 orientation: x: 0.7071065501076503 y: 1.1553940595954334e-07 z: 1.1553948151418447e-07 w: 0.7071070122653501 header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: '' pose: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0

why is it blank below the header?

and do you know how to set which link I want to control with set pose target ? I'm quite new to ROS and moveit sorry.

is these position and orientation tool0's position or is it already being transformed relative to the base? should I publish a tf between tool0 to base? how?

(sorry to write it as answer to be able to send image, I'll change it once I got the real answer)

Did you print the return value of get_current_pose (which is of type PoseStamped) or print(geometry_msgs.msg.PoseStamped()), because the zeroed position looks like you did the latter.

• and do you know how to set which link I want to control with set pose target ?

If you look through the move_group_commander code on github (linked above) you will also find a set_end_effector_link function.

• is these position and orientation tool0's position or is it already being transformed relative to the base?

I believe the pose is relative to the global frame set in rviz. The tf from base to tool0 should already exist. You can use rosrun rqt_tf_tree rqt_tf_tree to check which frames are available.

Got it, thankyou so much ! this is enough and really helpful !