How to change the planning frame in moveit to make it match the base frame definition on the UR robot

[taochenshh]

Hi,

I am trying to use the new UR robot driver. But it seems that the planning frame used in the Moveit is "base_link", which has a different frame definition compared to the one used on the UR robot. "base" frame matches the frame definition on the real UR robot. I tried to change the base_link in this line to 'base' or 'base_link_inertia". However, this does not change the planning reference frame used in Moveit. How can I change the reference frame? Thanks.

[fmauch]

If still relevant, please reopen the issue at the upstream repo in ros_industrial. Since ros-industrial#538 is merged, I will no longer actively maintain this repo.