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In greenpro/sac_config/config/andreas_arm.srdf you have (here):

<group name="arm">
    <joint name="virtual_joint" />
    ...
</group>
...
<virtual_joint name="virtual_joint" type="planar" parent_frame="odom_combined" child_link="world" />

The arm group includes virtual_joint, which is a planar joint. Planar joints have 2 dof, so I think that is where your error message is coming from.

In greenpro/sac_config/config/andreas_arm.srdf you have (here):

<group name="arm">
    <joint name="virtual_joint" />
    ...
</group>
...
<virtual_joint name="virtual_joint" type="planar" parent_frame="odom_combined" child_link="world" />

The arm group includes virtual_joint, which is a planar joint. Planar joints have 2 dof, so I think that is where your error message is coming from.

In First: the error message you quote is actually not coming from MoveIt itself, but from the kinematics plugin you have configured for your arm group. MoveIt itself doesn't really care, but plugins like KDL, LMA and others don't support joints with more than a single dof.

As to a possible cause: in greenpro/sac_config/config/andreas_arm.srdf you have (here):) you have:

<group name="arm">
    <joint name="virtual_joint" />
    ...
</group>
...
<virtual_joint name="virtual_joint" type="planar" parent_frame="odom_combined" child_link="world" />

The Your arm group includes virtual_joint, which is you have configured as a planar joint. Planar joints have combine 2 dof, so I think that is where your error message is coming from.

Btw: the virtual joint is typically not included in any group, as it is the joint that connects your robot / cell to the 'world'.