Target poses are not loaded in the right frame

[ros-industrial]

Target poses are not loaded in the right frame

[marip8]

Per the README and the target_pose_generator interface documentation, the target waypoints produced by the target_pose_generator interface implementations are expected to be relative to the robot kinematic base frame. This is a change that was introduced as a part of the update to version 1.0.0

You can still use the workflow of creating a point cloud using PCL mesh sampling and loading that point cloud into the reach study via the point_cloud_target_pose_generator. The only difference is that the point cloud needs to be relative to the kinematic base frame of the robot. This can be done in a number of ways:

1. Moving the origin of the sampled mesh to the kinematic base frame
2. Manually applying a transformation to the point cloud before/after saving it (e.g., pcl_transform_cloud, etc.)
3. Creating a new ROS-enabled point_cloud_target_pose_generator which can load a point cloud relative to an arbitrary location and transforming it using TF to the kinematic base frame

I use option 1 in the reach_ros demo, but I could see option 3 being potentially useful as well and it wouldn't be difficult to create

[marip8]

Closing; addressed in above comment and in linked PRs