Mimicing joints not working in moveit.
I made a urdf for a new robotarm with a gripper. To controll the gripper i will use 2 joints mimicing a third. But when i bring the urdf in moveit setup assistant, define two groups (arm(with joints);gripper(with links)) and then when i want to add the poses this happens:
Also you'll see what happens after i generted the package and edit it again.
Why is this happening and hwo do i get my expected result?
My urdf:
<robot <a="" href="http://xmlns:xacro="http://wiki.ros.org/xacro%22" name="roboarm_002">xmlns:xacro="http://wiki.ros.org/xacro"></robot>
<!--xacro:include filename="$(find xxx)/urdf/xxx.gazbeo.urdf"/-->
<link name="world" />
<link name="link_base">
<inertial>
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="1.57075 0 0" />
<geometry>
<mesh filename="package://roboarm_002/urdf/Base.obj" scale="1 1 1"/>
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="1.57075 0 0" />
<geometry>
<mesh filename="package://roboarm_002/urdf/Base.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="world_fixed" type="fixed">
<parent link="world" />
<child link="link_base" />
</joint>
<!--joint name="world_fixed05" type="fixed">
<parent link="world" />
<child link="xyz" />
</joint>
<joint name="world_fixed2" type="fixed">
<parent link="world" />
<child link="xyz2" />
</joint>
<joint name="world_fixed3" type="fixed">
<parent link="world" />
<child link="xyz3" />
</joint>
<joint name="world_fixed4" type="fixed">
<parent link="world" />
<child link="xyz4" />
</joint>
<link name="xyz">
<inertial>
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="1.57075 0 0" />
<geometry>
<mesh filename="package://roboarm_002/urdf/XYZ.obj" scale="1 1 1"/>
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="1.57075 0 0" />
<geometry>
<mesh filename="package://roboarm_002/urdf/XYZ.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<link name="xyz2">
<inertial>
<origin rpy="1.57075 0 0" xyz="-1 0 0"/>
<mass value=".1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="-1 0 0" rpy="1.57075 0 0" />
<geometry>
<mesh filename="package://roboarm_002/urdf/XYZ.obj" scale="1 1 1"/>
</geometry>
<material name="Cyan">
<color rgba="0 ...