Hello,

I am trying to setup IKfast on my robot, it all seems to go well until attempting to run demo.launch from the moveit_config package. When moveit! loads the IKfast kinematics solver there is a fatal error:

[FATAL] Joint numbers mismatch: URDF has 7 and IKFast has 6

My URDF has a mimic joint in it, I think this is the root of the problem. I am wondering if there is a work around? I have tried several variations of including the mimic joint in the moveit! planning group or not:

Here is what my IKfast set-up was :

~/harvester_7_axis/src/harvester_description/urdf$ openrave-robot.py
name                index parents      
---------------------------------------
world               0                  
base_link           1     world        
bed_link0           2     base_link    
carrage_link0       3     bed_link0    
gantry_link0        4     carrage_link0
gantry_link1        5     gantry_link0 
arm_link0           6     gantry_link1 
arm_link1           7     arm_link0    
arm_link2           8     arm_link1    
arm_link3           9     arm_link2    
arm_link4           10    arm_link3    
aa_tool_flange_link 11    arm_link4    
---------------------------------------
~/harvester_7_axis/src/harvester_description/urdf$ export BASE_LINK="0"
~/harvester_7_axis/src/harvester_description/urdf$ export EEF_LINK="10"

Here is the .dae joint info incase you want it:

~/harvester_7_axis/src/harvester_description/urdf$ openrave-robot.py "$MYROBOT_NAME".dae --info joints
name                 joint_index dof_index parent_link   child_link          mimic      
----------------------------------------------------------------------------------------
gantry_joint_0       0           0         carrage_link0 gantry_link0                   
gantry_joint_1       1           1         gantry_link0  gantry_link1                   
arm_joint_0          2           2         gantry_link1  arm_link0                      
arm_joint_2          3           3         arm_link1     arm_link2                      
arm_joint_3          4           4         arm_link2     arm_link3                      
arm_joint_4          5           5         arm_link3     arm_link4                      
fixed                -1          -1        world         base_link                      
bed_joint_0          -1          -1        base_link     bed_link0                      
carrage_joint_0      -1          -1        bed_link0     carrage_link0                  
arm_joint_1          -1          -1        arm_link0     arm_link1           arm_joint_0
aa_tool_flange_joint -1          -1        arm_link4     aa_tool_flange_link            
----------------------------------------------------------------------------------------
name                 joint_index dof_index parent_link   child_link          mimic      

I used the following code to create the IKfast.cpp file:

export IKFAST_OUTPUT_PATH=`pwd`/ikfast61_"$PLANNING_GROUP".cpp
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot="$MYROBOT_NAME".dae --iktype=transform6d --baselink="$BASE_LINK" --eelink="$EEF_LINK" --savefile="$IKFAST_OUTPUT_PATH"

Any help with how to solve my issue would be much appreciated, thanks for your help in advance.

P.S. if you need anymore information that can help just ask :D

while (link->name != base_frame_ && joint_names_.size() <= (num_joints_+1))

if (joint_names_.size() != num_joints_)
  {
      ROS_FATAL_STREAM_NAMED(name_, "Joint numbers mismatch: URDF has " << joint_names_.size() << " and IKFast has " << (num_joints_+1));
      return false;
  }