From f30d51b2cef111ca92c89ced8776960d6e3b2470 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Daniel=20Garc=C3=ADa=20L=C3=B3pez?=
 <d.garcialopez@hotmail.com>
Date: Wed, 7 Aug 2024 17:03:36 +0200
Subject: [PATCH] Consider attached collision objects in the ComputeFK service
 (#2953)

---
 .../default_capabilities/kinematics_service_capability.cpp    | 4 ++--
 1 file changed, 2 insertions(+), 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
index 6101ab60cc..c2cd031305 100644
--- 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)