Sorry,because I ask moveit mailing list, but no people answer yet. So I ask problem here and hope you to help.

My problem:

My system is ubuntu12.04 and ros groovy. I try to setup MoveIt in real PR2.

According to MoveIt tutorials I finish setting yaml and launch files of controller and run optirun roslaunch pr2moveitgenerated moveitplanningexecution.launch

I select random point in rviz, but rforearmjoint and rgripperpalm_link display red.

I try to select random point again and again or pull arm of PR2 by myself in rviz, but rforearmjoint and rgripperpalm_link always display red. I plan and have error message(link text).

I attach srdf of PR2, urdf of PR2 and hope that you can reproduce the problem.

Why is that rforearmjoint and rgripperpalm_link always display red ? Thank you.