moveit floating joint planning

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Hello

I am trying to generate a path of a floating joint. As a base I used the motion_planning IPA from the movit2__tutorials (https://moveit.picknik.ai/foxy/doc/mo...) I adapted everything to my robot. However, there is a floating joint object, for which I need to generate a path. However, I get the following error:

[ERROR] [1657806440.808604010] [moveit_robot_state.conversions]: Found empty JointState message
[INFO] [1657806440.808713254] [moveit_planning_interface.planning_interface]: The timeout for planning must be positive (0.000000 specified). Assuming one second instead.
[WARN] [1657806440.808771239] [moveit.ompl_planning.model_based_planning_context]: It looks like the planning volume was not specified.
[ERROR] [1657806440.810019894] [moveit.ompl_planning.model_based_planning_context]: Unable to construct goal representation

It works fine If I use the normal articulated robot but I don't know why it doesnt work with the free joint. I would guess its because of the planner? I also get the following message during the construction

Converting unknown joint type of joint 'free_object_joint' into a fixed joint