@JafarAbdi,

I'm having issues trying to use the ros2 branch of MTC to plan a circular path around a non-TCP frame (that already includes PR #322). I wrote up a question at ROS Answers describing the problem. Instead of copying and pasting it, I'm linking to it here. In a nutshell though the two main questions I have are:

• How to use MTC to plan a circular path around a non-TCP frame? Specifying the frame_id in a goal message to be the non-TCP frame has no impact (circular path is still generated only around the TCP frame).
• While rotating around the non-TCP frame, how to keep the orientation of the TCP constant?