Custom tip_state definition


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I was looking up the /robot/limb/right/tip_states topic and wondering if other tips besides the default (right_hand) can be added to this topic.

Say, for instance I am interested in controlling the cartesian pose of a different link (say "right_l5" instead of "right_hand"). I would like to be able to query the pose of right_l5 (or any other custom link defined in the urdf). Let me know if there is a way to customize what is sent over the tip_state topic (/robot/limb/right/tip_states).




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