Forward kinematics with `/compute_fk` interface.

moveit_compute_fk.py

import typing
import rospy
import moveit_commander
import moveit_msgs.srv

def moveit_compute_fk(
    move_group: moveit_commander.MoveGroupCommander,
    joint_position: typing.List[float],
    ee_link = "tool0"
):
    compute_fk = rospy.ServiceProxy("compute_fk", moveit_msgs.srv.GetPositionFK)
    req = moveit_msgs.srv.GetPositionFKRequest()
    req.header.frame_id = "base_link"
    req.fk_link_names = [ee_link]
    req.robot_state = move_group.get_current_state()
    req.robot_state.joint_state.position = joint_position
    return compute_fk(req).pose_stamped[0].pose