MoveIt Attach Object Error

edit

Here is my node to add an object and attach it to the robot :

#include <moveit/move_group_interface/move_group.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <geometric_shapes/shape_operations.h>

using namespace Eigen; 

int main(int argc, char **argv)
{

ros::init(argc, argv, "add_workpiece_wall");
ros::NodeHandle nh;

ros::AsyncSpinner spin(1);
spin.start();


moveit::planning_interface::PlanningSceneInterface current_scene;
sleep(2.0);


Vector3d b(0.001, 0.001, 0.001);

moveit_msgs::CollisionObject co;            

co.id = "workpiece_wall";


shapes::Mesh* m = shapes::createMeshFromResource("package://mitsubishi_rv6sd_support/meshes/workpiece_wall.stl",b); 
ROS_INFO("Workpiece Wall mesh loaded");

shape_msgs::Mesh mesh;

shapes::ShapeMsg mesh_msg;  
shapes::constructMsgFromShape(m, mesh_msg);
mesh = boost::get<shape_msgs::Mesh>(mesh_msg);

co.meshes.resize(1);
co.mesh_poses.resize(1);

co.meshes[0] = mesh;
co.header.frame_id = "base_link";   

co.mesh_poses[0].position.x = 0.560651;
co.mesh_poses[0].position.y = 0.579113;
co.mesh_poses[0].position.z = 0.0;
co.mesh_poses[0].orientation.w= 0.0; 
co.mesh_poses[0].orientation.x= 0.0; 
co.mesh_poses[0].orientation.y= 0.0;
co.mesh_poses[0].orientation.z= 0.0;   

co.meshes.push_back(mesh);
co.mesh_poses.push_back(co.mesh_poses[0]);
co.operation = co.ADD;


std::vector<moveit_msgs::CollisionObject> abc;
abc.push_back(co);


ROS_INFO("Workpiece Wall added into the world");
current_scene.addCollisionObjects(abc);
sleep(5.0);

moveit::planning_interface::MoveGroup g("arm");     
ROS_INFO("Attach Workpiece Wall to the robot");
g.attachObject(co.id);
// Sleep to give Rviz time to show the object attached (different color).
sleep(4.0);


ros::shutdown();

return 0;
}

And the error I'm getting is this:

terminate called after throwing an instance of 'std::runtime_error'
  what():  No Trajectory execution capability available.
[add_workpiece_wall-7] process has died [pid 47204, exit code -6, cmd /home/sbr/mitsubishi/devel/lib/mitsubishi_rv6sd_support/add_workpiece_wall __name:=add_workpiece_wall __log:=/home/sbr/.ros/log/d1c6e840-9ac0-11e6-ba06-480fcf447f3c/add_workpiece_wall-7.log].
log file: /home/sbr/.ros/log/d1c6e840-9ac0-11e6-ba06-480fcf447f3c/add_workpiece_wall-7*.log

From my previous question it is somewhat clear that the error is only because of these lines :

moveit::planning_interface::MoveGroup g("arm");     
ROS_INFO("Attach Workpiece Wall to the robot");
g.attachObject(co.id);
// Sleep to give Rviz time to show the object attached (different color).
sleep(4.0);