Retrieve end effector pose in MoveIt

edit

As stated in here by Simon Jansen:

Assuming you're using the high-level movegroup interface, could you not do something like this:

moveit::planning_interface::MoveGroup *group; 
group = new moveit::planning_interface::MoveGroup("arm");
group->setEndEffectorLink("hand_left");
geometry_msgs::PoseStamped current_pose =
group->getCurrentPose();

but this is if you want to define a new group. If you want to use the group linked to your previous end-effector you should do:

moveit::planning_interface::MoveGroup group("your end-effector");
group.getCurrentPose();