I am trying to use the `/compute_ik` service which MoveIt advertises. It seems that this service always converts the desired pose into the `default_frame` [as shown here.](https://github.com/ros-planning/moveit/blob/fc2aa52b25b76c2b93cc089c2704c013044d8651/moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp#L117)
It appears that the default frame is `/odom`, which is the the root of [the srdf we are using](https://github.com/Kinovarobotics/kinova-movo/blob/fa93886ffb04033e9307eff65283d1ee8085b241/movo_7dof_moveit_config/config/movo_kg2.srdf). This means that the IK call fails if `tf`doesn't have information on the `odom` frame, even if the IK call only pertains to transform downstream. For example, to move the right arm group to a pose expressed in the frame `base_link`, there's no reason to involve the `odom` frame.
Am I understanding the situation correctly? And is there a work around to avoid needing the `/odom` frame?
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