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Error in Planning group with MoveIt! Setup Assistant

asked 2018-05-12 13:34:59 -0500

updated 2021-11-14 10:00:50 -0500

lucasw gravatar image


I had successfully created a working URDF file for the UR5 robot with a Kinect sensor attached to the end-effector. I have verified the URDF file using check_urdf. I wished to use the URDF file with Gazebo as well as RViz, for which I was following this link). I am using ROS Kinetic with Ubuntu 16.04.

For creation of the MoveIt! configuration package, I was referring to MoveIt setup assistant tutorial, this tutorial and the ROS Industial tutorial.

I have created the self-collision matrix and the virtual joints as per the ROS-I tutorial. The ROS-I suggested that I add the planning group with the name 'manipulator' and by adding a Kinematic chain from the base_link to the tool0 (end-effector) link. However when I try to add robot poses with this planning group, I get this following error message.

Unable to find joint model group for group: manipulator Are you sure this group has associated joints/links?

Because of this, I was not able to visualise the joint motions as well as set a pose. Any particular reason for this error? I have attached the related pictures for reference. Thanks in advance.

Self Collision checking

Virtual Joints

Planning Groups_General


Edit: I have checked the same procedure with standard URDF files from the UR5 and UR10 robot. I am still getting the same error.

Update: Added the link to the URDF file

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answered 2018-05-13 19:00:35 -0500

Solved it. Turns out it was a stupid mistake. While making the new planning group, I was adding an extra space at the end of the planning group name 'manipulator' which was causing an error and showing that this particular planning group doesn't exist.

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Asked: 2018-05-12 13:34:59 -0500

Seen: 877 times

Last updated: May 13 '18