First: the error message you quote is actually not coming from MoveIt itself, but from the kinematics plugin you have configured for your arm
group. MoveIt itself doesn't really care, but plugins like KDL, LMA and others don't support joints with more than a single dof.
As to a possible cause: in greenpro/sac_config/config/andreas_arm.srdf
(here) you have:
<group name="arm">
<joint name="virtual_joint" />
...
</group>
...
<virtual_joint name="virtual_joint" type="planar" parent_frame="odom_combined" child_link="world" />
Your arm
group includes virtual_joint
, which you have configured as a planar joint. Planar joints combine 2 dof, so I think that is where your error message is coming from.
Btw: the virtual joint is typically not included in any group, as it is the joint that connects your robot / cell to the 'world'.
Could you post your urdf?
The code will not post well but the URDF code is hosted at https://github.com/greenpro/sac_descr...
The rest of the description project is at https://github.com/greenpro/sac_descr...