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Get tip frames from joint model group in kinematics plugin loader #3542

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Get tip frames from joint model group in kinematics plugin loader #3542

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16 changes: 10 additions & 6 deletions moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,13 +88,17 @@ class KinematicsPluginLoader::KinematicsLoaderImpl
std::vector<std::string> chooseTipFrames(const moveit::core::JointModelGroup* jmg)
{
std::vector<std::string> tips;
// get the last link in the chain
RCLCPP_DEBUG(logger_,
"Choosing tip frame of kinematic solver for group %s"
"based on last link in chain",
jmg->getName().c_str());

tips.push_back(jmg->getLinkModels().back()->getName());
// try to retrieve the tip frames from the joint model group
if (!jmg->getEndEffectorTips(tips))
{
// get the last link in the chain as fallback
RCLCPP_DEBUG(logger_,
"Choosing tip frame of kinematic solver for group %s"
"based on last link in chain",
jmg->getName().c_str());
tips.push_back(jmg->getLinkModels().back()->getName());
}

// Error check
if (tips.empty())
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