Hi,
Please zoom the webpage to see the image clearly or else please visit this [link](https://github.com/BhanuKiranChaluvadi/ROS_upstart/tree/master/ROSAnswers).
I am trying to understand moveit package. Currently i have a simple four bar mechanism with 4 links
1. base link - active joint and can be rotate about y-axis
2. link1 - active joint and can be rotated about x-axis
3. link2 : mimics the link1
4. link3: mimic the link1 but in opposite direction to stay horizontal all the time.
The visualization works as expected.
[Rviz](https://raw.githubusercontent.com/BhanuKiranChaluvadi/ROS_upstart/master/ROSAnswers/2.png)
I am interested in position control of the link3(top, horizontal, blue color ) right most end point. I am following [Moveit! Setup Assistant](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html) tutorial.
In "[Add Planning group](https://raw.githubusercontent.com/BhanuKiranChaluvadi/ROS_upstart/master/ROSAnswers/5.png): " I created a group 'arm' and added all the joints except for the virtual joint that connects the world.
No passive joint were added.
Then i created a [ros controller](https://raw.githubusercontent.com/BhanuKiranChaluvadi/ROS_upstart/master/ROSAnswers/6.png) with all the joints and moveit is wise enough to remove mimic joints from the position controller.
After creating the config files and launching [demo.launch](https://raw.githubusercontent.com/BhanuKiranChaluvadi/ROS_upstart/master/ROSAnswers/6.png).
These are the error i received.
[ERROR] [1542216768.587967338]: Group 'arm' is not a chain
[ERROR] [1542216768.587992079]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'arm'
[ERROR] [1542216768.588105565]: Kinematics solver could not be instantiated for joint group arm.
[ERROR] [1542216768.618585152]: No sensor plugin specified for octomap updater 0; ignoring
[ERROR] [1542216768.657508087]: Could not find the planner configuration 'None' on the param server
There is also no visualization marker displayed to click and drag for planning. In case if i had to write custom IK solver please point me to some tutorials.
Any help is greatly appreciate.
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