Place action, `place_eef` is not set by move group interface: Place goals only are specified for the attached body

[rafaelrojasmiliani]

Description

In the PlaceLocation message here we have

# The position of the end-effector for the grasp relative to a reference frame
# (that is always specified elsewhere, not in this message)
geometry_msgs/PoseStamped place_pose

It seems that place_pose is the is similar to grasp_pose in Grasp, but it is not clear. However, in PlaceAction the variable place_eef allows to choose which behavior the user prefers. I looked for that variable in this repo with grep -R place_eef is it only appears here. So, by default it is set to false, and the user can only set it by construction the place goal which is not easy.

Possible solution

Set the variable in the required move group interface functions, e.g. constructPlaceGoal and improve the documentation of the message.

Question:* what should be the default value of place_eef true or false?