Hi,

i have problems to remote control my real robot with RViz and geometry_msgs.msg.Pose(). 

My first problem is that my world coordinate system is exactly opposite (180 degrees rotated by z) to the coordinate system of the robot. Thus all positions are x = -x and y = -y and I come out on the wrong side.

My second problem is the tcp of the gripper. 


I am using the ur3e with the hand-e and since adding the gripper, moveit changed my tcp to the wrist_3_link. So all my input geometry_msgs.msg.Pose() are on the wrong place and with the wrong orientation. Can I somehow change it back to tool0 of the arm or to the top of the gripper?


Thanks,
Lukas