Hi all,
In a simulated (gazebo) environment i've placed a motoman ma1400 welding robot (https://github.com/kleinma/ma1400_sim) on top of a track (prismatic joint). Furthermore I've added a rotating table. In moveit I can succesfully plan and execute motion for the table and the robot on the track.
But now I want to create a single planning group that plans both the table and all joints of the robot on the track.
This is not a question of planning and executing motion synchronously as for example is asked in: https://answers.ros.org/question/235158/could-not-find-interactive-markers-for-dual-arm-group-in-moveit/ In that case both arms get a goal pose request in world frame.
What I want is to plan for an end effector goal of the weld tip of the motoman on track relative to the table. However when I create a moveit plan group which contains all joints it gives the error as shown below.
how should i set up my moveit plan group such that i can plan for the endeffector relative to the table frame with all joints?
> [ INFO] [1540451728.075267997, 6.971000000]: Loading robot model 'weldtablecell'...
[ INFO] [1540451728.075307271, 6.971000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1540451728.113952048, 7.014000000]: Loading robot model 'weldtablecell'...
[ INFO] [1540451728.113994511, 7.014000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ERROR] [1540451728.135902717, 7.036000000]: Group 'all' is not a chain
[ERROR] [1540451728.135934967, 7.036000000]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'all'
[ERROR] [1540451728.136160612, 7.036000000]: Kinematics solver could not be instantiated for joint group all.
[ INFO] [1540451728.261226293, 7.166000000]: Starting scene monitor
[ INFO] [1540451728.264050719, 7.169000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1540451728.334397629, 7.242000000]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ INFO] [1540451729.513772641, 8.420000000]: Ready to take commands for planning group manipulator.
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