Manipulator on a mobile base with moveit

asked 2023-07-04 06:03:30 -0600

I have one .urdf file describing the arm and the base. I need to create a "moveit config package" to then use it to plan the robot's motions (manipulator + mobile base), ideally also avoiding the obstacles in the way. Doing this with the base standing still is relatively easy. The question is, how do I create the planning groups for the arm and base joints? Currently, I add the arm's joints to the "arm_controller" group and the base's joints (they control the wheels) to the "base_controller" group. When running the rviz roslaunch robot_moveit_config demo.launch rviz_tutorial:=true it opens successfully and allows for the planning of the arm, but shows the following errors:

[ WARN] [1688463281.092532567]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ERROR] [1688463281.097958597]: Group 'base_controller' is not a chain
[ERROR] [1688463281.098008030]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'base_controller'
[ERROR] [1688463281.098050600]: Kinematics solver could not be instantiated for joint group base_controller.

How do I set it up correctly, so that I can plan for the mobile platform as well and the robot uses the depth camera to plan around objects?

I use ROS1 Noetic and the robot has the D435i depth camera.

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