I learned the Pick and place tutorial in Moveit and ported it to our own virtual robot model. The tools I used in the experiment were: ROS1+Moveit+Rviz

After successful compilation, I executed the following error:

[ INFO] [1548253354.119771673]: Starting scene monitor

[ INFO] [1548253354.126333980]: Listening to '/movegroup/monitoredplanning_scene'

[ INFO] [1548253354.308600191]: Constructing new MoveGroup connection for group 'arms' in namespace ''

[ INFO] [1548253355.380213643]: Ready to take commands for planning group arms.

[ INFO] [1548253355.380328593]: Looking around: no

[ INFO] [1548253355.380412013]: Replanning: no

[ INFO] [1548253404.030752180]: Planning attempt 1 of at most 1

[ INFO] [1548253404.052835223]: Added plan for pipeline 'pick'. Queue is now of size 1

[ INFO] [1548253404.083633985]: Planner configuration 'left_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.

[ INFO] [1548253404.084359261]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1548253404.119420976]: RRTConnect: Created 5 states (3 start + 2 goal)

[ INFO] [1548253404.119488082]: Solution found in 0.035330 seconds

[ INFO] [1548253404.143018361]: SimpleSetup: Path simplification took 0.023338 seconds and changed from 3 to 3 states

[ INFO] [1548253404.150424644]: Found successful manipulation plan!

[ INFO] [1548253404.150635010]: Pickup planning completed after 0.119607 seconds

****[ERROR] [1548253404.233262963]: Joint trajectory action failing on invalid joints

[ WARN] [1548253404.234076162]: Controller failed with error code INVALID_JOINTS

[ WARN] [1548253404.235131474]: Controller handle reports status FAILED

[ INFO] [1548253404.235281374]: Completed trajectory execution with status FAILED ...

[ INFO] [1548253405.430214381]: Planning attempt 1 of at most 1

[ERROR] [1548253405.430419637]: Attached body 'object' not found****

If anyone can give me a good suggestion, I will be very grateful!

Thank you.