Consider attached collision objects in the ComputeFK service (#2953)

moveit · Aug 7, 2024 · f30d51b · f30d51b
1 parent 4ad84cc
commit f30d51b
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp b/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
@@ -223,10 +223,10 @@ bool MoveGroupKinematicsService::computeFKService(const std::shared_ptr<rmw_requ
   moveit::core::robotStateMsgToRobotState(req->robot_state, rs);
   for (std::size_t i = 0; i < req->fk_link_names.size(); ++i)
   {
-    if (rs.getRobotModel()->hasLinkModel(req->fk_link_names[i]))
+    if (rs.knowsFrameTransform(req->fk_link_names[i]))
     {
       res->pose_stamped.resize(res->pose_stamped.size() + 1);
-      res->pose_stamped.back().pose = tf2::toMsg(rs.getGlobalLinkTransform(req->fk_link_names[i]));
+      res->pose_stamped.back().pose = tf2::toMsg(rs.getFrameTransform(req->fk_link_names[i]));
       res->pose_stamped.back().header.frame_id = default_frame;
       res->pose_stamped.back().header.stamp = context_->moveit_cpp_->getNode()->get_clock()->now();
       if (do_transform)