Hello ROS Community.
I have a 5DOF custom made robotic arm. I have been doing some cartesian path-based motion planning tasks with moveit commander, but (as it was expected) the default KDL fails to find solution quite often. Therefore, i tried to create the IKfast solver to my robot following the step-by-step instructions on the [tutorial page](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/ikfast/ikfast_tutorial.html).
I was able to successfully install the OpenSceneGraph, the FCL as well as the OpenRAVE based on [the recommended link](http://fsuarez6.github.io/blog/workstation-setup-xenial/).
The first issue i encounter is, that the `openrave "$MYROBOT_NAME".dae` doesnt show the robot model. (the collada file was successfully created, and the `openrave-robot.py "$MYROBOT_NAME".dae --info links` shows the correct links, parents though).
I tested the official UR5 description (e.g., i created the collada from the official ur5_robot.urdf.xacro), but the outcome was the same, the openrave doesnt show the robot, just some unrecognizable shapes, as on the previous screenshot.
**What could be the problem here?**
Nonetheless, i could generate the solution CPP File, but now with the IKFastKinematicsPlugin **NO** successful motion planning can be performed (10/10 times it fails to find solution for the tested reachable poses).
**can i suspect, that the root of this problem is related to the wrongly displayed model in openrave?**
I also tried to make a wrapper.xml as it was recommended [here](https://answers.ros.org/question/12846/could-ik-solver-called-by-arm_navigation-auto-generated-file-work-for-5-dof-manipulator/), but i did not change the outcome.
Thank you for the help in advance.
Best regards,
Ákos
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