MoveGroupInterface: Fixed computeCartesianPath to use selected end-ef…

…fector. (moveit#580)
KaihongYang · Aug 17, 2017 · e855354 · e855354
1 parent f5a6df0
commit e855354
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -941,6 +941,7 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     req.jump_threshold = jump_threshold;
     req.path_constraints = path_constraints;
     req.avoid_collisions = avoid_collisions;
+    req.link_name = getEndEffectorLink();
 
     if (cartesian_path_service_.call(req, res))
     {