Set planning frame correctly in evaluation of reachable and valid pos…

…e filter (#476)

The current behavior is that the evaluation sets the frame id of the goal_pose_ to the planning frame of the
planning_scene_ when they are the same. This also applys for the pose.
This should be done when the frames are different.

moveit_ros/manipulation/pick_place/src/reachable_valid_pose_filter.cpp

@@ -114,7 +114,7 @@ bool pick_place::ReachableAndValidPoseFilter::evaluate(const ManipulationPlanPtr
     // pose
     // can be that of objects in the collision world but most components are unaware of those transforms,
     // so we convert to a frame that is certainly known
-    if (robot_state::Transforms::sameFrame(planning_scene_->getPlanningFrame(), plan->goal_pose_.header.frame_id))
+    if (!robot_state::Transforms::sameFrame(planning_scene_->getPlanningFrame(), plan->goal_pose_.header.frame_id))
     {
       tf::poseEigenToMsg(plan->transformed_goal_pose_, plan->goal_pose_.pose);
       plan->goal_pose_.header.frame_id = planning_scene_->getPlanningFrame();