Does /franka_control/set_EE_frame service change the end effector of current move group ? #122
Opened this issue · 1 comments
Assets01 commented
Using /franka_control/set_EE_frame service can set NE_T_EE, thus changes 'panda_ee' frame in TF tree. I wonder when using moveit for planning after set_EE_frame, what happens to the defined end effector?
e.g., when using panda_manipulator move group, the default end effector is 'pand_hand_tcp', and 'panda_ee' frame is equal to 'pand_hand_tcp' frame, the planed cartesian path is for 'pand_hand_tcp', right? but after using set_EE_frame, the 'panda_ee' frame is changed, then the planned path is for the changed 'panda_ee' or still for 'pand_hand_tcp'?