Error Group " " has mimic joint will not initialize dynamics solver

asked 2015-11-03 06:11:33 -0500

weusthofm gravatar image


Who can help me with the following problem.

We have a robot which has 2 mimic joints on one arm. When we generate the urdf via Moveit! there is no error. Via the GUI I can control all the joints including the 2 mimic joint. The multiplier is simple -1 and offset is 0. Via RVIZ and planning/execute I can position every joint or effector. No errors.

I am using the KDL library, which should be able to work with mimic joints.

But when I use the roslauch demo.launch or move_group.launch it says every time "Group 'right_arm' has a mimic joint. Will not initialize dynamic solver".

When I try to position the end effector via xyz then I get the following "Fail: No motion plan found. No execution attempted".

I would like to get a solution of the mimic joints. When removing the mimic joint and replace them by default joints, the robot works. However we need to mimic two joint. Maybe one of you has a solution to mimic two joints, without using the mimic joint as described in the urdf file. I think that I made a mistake somewhere in the setup assistent of moveit, but I seem not be able to see the fault. Who can help me to solve this.

I am using ubuntu 14.04 LTS rosdistro Indigo and rosversion 1.11.13 using on a intel core I7 with 8 GB and 64-bits


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Hello Marcel,

Were you able to fix this? I am facing the same issue.!


kmohan gravatar image kmohan  ( 2016-07-19 14:35:12 -0500 )edit

Use mimic joint on joint that is not in group with kinematic solver. For example I use mimic on passive joint

jake123 gravatar image jake123  ( 2017-01-09 10:33:46 -0500 )edit