MotionPlanning in Moveit only partly works?

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Hello List,

Using Indigo I created a setup with moveit setup assistent and an urdf for our crustcrawler arm. The urdf is adapted from the smart_arm_robot.xacro from ua-ros-pkg. The urdf works fine using rviz and joint_state_publisher.

But with Planning Request in Moveit/Rviz the eef-joint (wrist_roll_joint) gets DETACHED from the rest of the arm. Normally the rest of the arm should follow, but it does NOT move while the (moved) eff-joint immediatly turns red.

The moveit-command however DOES work. I can see the moves in Rviz when I give e.g. "go rand". Also the pr2 example does work perfectly. You can find my setup in http://fwn06.housing.rug.nl/ros

I only used the setup wizard and used an urdf I am fairly confidant about. Why does the planning in MotionPlanning not work ?

Thanks in advance, Sietse