This is actually not correct. You update the current state, and then use the current state, but changes could have come in in between. One way to do this would be something like this:
```
moveit::core::RobotState rs = scene_display_->getPlanningSceneRW()->getCurrentStateNonConst();
Eigen::Affine3d tip_pose = rs..getGlobalLinkTransform(robot_interaction_->getActiveEndEffectors()[0].parent_link);
// since rs is not const here, the getGlobalLinkTransform() call will trigger update() when needed
```