Hi

I am using ROS + Indigo + Moveit.

I am very new to this.

I am facing some problem

[ WARN] [1502355354.983148102]: Fail: ABORTED: Must specify group in motion plan request

[ERROR] [1502355354.966144599]: Attached body 'pen' not found [ INFO] [1502355354.982381599]: Planning attempt 1 of at most 1 [ERROR] [1502355354.982608168]: No end-effector specified for pick action