Hello,
I’m using panda arm with moveit. I want to create the planning group which will include all the joints in my robot.
Currently i have created two planning groups as suggested in this [tutorial](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html#step-4-add-planning-groups).
When i simply add all joints in one planning group i get error of group is not a chain, no kinmetic solver is instantiated for this group.
I want to plan trajectory for whole panda robot i.e. arm and gripper together. I tried various ways such as
1) adding all joints in a group
2) adding chain which includes base and tip links etc
I have referred [this](https://answers.ros.org/question/252036/moveit_setup_assistant-how-to-choose-chain-joint-and-link-for-planning-group/) and [this](https://answers.ros.org/question/306696/moveit-planning-group-foo-is-not-a-chain/) previous questions too, but i couldn’t come up with a planning group which will let me plan trajectory for whole panda robot.
can anyone guide me in creating planning group which will help me in creating trajectory for whole arm?
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