Function moveit_ros::trajectory_cache::getWorkspaceFrameId
Defined in File utils.hpp
Function Documentation
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std::string moveit_ros::trajectory_cache::getWorkspaceFrameId(const moveit::planning_interface::MoveGroupInterface &move_group, const moveit_msgs::msg::WorkspaceParameters &workspace_parameters)
Gets workspace frame ID. If workspace_parameters has no frame ID, fetch it from move_group.
It makes sense to use getPoseReferenceFrame() in the absence of a frame ID in the request because the same method is used to populate the header frame ID in the MoveGroupInterface’s computeCartesianPath() method, which this function is associated with.