# How to move base robot in MoveIt! hydro

Hi everyone!

I am trying to do a motion planning with a quadcopter with an arm manipulator. I am using the MoveGroup interface in Moveit! For that, I run my demo.launch created by moveit_setup_assistant and file file .cpp with the code that I did for the motion.

I can see the base motion in Rviz but the base of quadcopter really don't move, thus I can not make motions with the manipulator from the last position of the base motion. I see first the motion of the base, and after I see the manipulator motion form the first place. Moveit! don't save the base motion. what is the problem?

Here is the code:

moveit::planning_interface::MoveGroup quad("whole_robot");
moveit::planning_interface::MoveGroup group("arm");
//only manipulator

//This is position and orientation for the quadcopter

moveit::planning_interface::MoveGroup::Plan my_plan;

ros::WallDuration(1.0).sleep();

group.getCurrentState()->copyJointGroupPositions(group.getCurrentState()->getRobotModel()->getJointModelGroup(group.getName()), variable_values);

//I copy the joint positions in quad_variable_values and show it.

//And I do the same for the manipulator
std::vector<double> group_variable_values;

group.getCurrentState()->copyJointGroupPositions(group.getCurrentState()->getRobotModel()->getJointModelGroup(group.getName()), group_variable_values);
group_variable_values[1] = -1;
group_variable_values[2] = 0;
group.setJointValueTarget(group_variable_values);
group.setPlannerId("RRTConnectkConfigDefault");
moveit::planning_interface::MoveGroup::Plan my_plan2;
success = group.plan(my_plan2);
group.move();


The result is:

[ INFO] [1401795116.063443488]: Ready to take MoveGroup commands for group arm.
[ INFO] [1401795116.627121832]: Ready to take MoveGroup commands for group whole_robot.
[ INFO] [1401795120.966969193]: Variables articulares 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000


Hello, did you check topics and frames? $rostopic list and$rosrun tf view_frames. It seems to be your problem