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I have actually managed to solve the problem I think:
I edited the ikfast_plugin/src/robot_name_ikfast_moveit_plugin.cpp to increase the num_joint of the ikfast so that it matches the moveit! joint number (num_joints_ + 1):
Line 384:
while (link->name != base_frame_ && joint_names_.size() <= (num_joints_+1))
Line 439:
if (joint_names_.size() != num_joints_)
{
ROS_FATAL_STREAM_NAMED(name_, "Joint numbers mismatch: URDF has " << joint_names_.size() << " and IKFast has " << (num_joints_+1));
return false;
}
Thanks for the help @gvdhoorn :D