Hey!
I had successfully created a working URDF file for the UR5 robot with a Kinect sensor attached to the end-effector. I have verified the URDF file using check_urdf. I wished to use the URDF file with Gazebo as well as RViz, for which I was following [this link](https://github.com/AS4SR/general_info/wiki/ROS-MoveIt!-and-Gazebo-Integration-(WIP)). I am using ROS Kinetic with Ubuntu 16.04.
For creation of the ROS MoveIt!, I was referring to [MoveIt setup assistant tutorial](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html), [this tutorial](http://www.theconstructsim.com/ros-moveit/) and [the ROS Industial tutorial](http://ros-industrial.github.io/industrial_training/_source/session3/Build-a-Moveit!-Package.html).
I have created the self-collision matrix and the virtual joints as per the ROS-I tutorial. The ROS-I suggested that I add the planning group with the name 'manipulator' and by adding a Kinematic chain from the base_link to the tool0 (end-effector) link. However when I try to add robot poses with this planning group, I get this following error message.
> Unable to find joint model group for group: manipulator Are you sure this group has associated joints/links?
Because of this, I was not able to visualise the joint motions as well as set a pose. Any particular reason for this error? I have attached the related pictures for reference. Thanks in advance.
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