dual arm configuration problems

[Jonathan Cacace]

Hi Guys!

I am using MoveIt! configuring my own robot, a dual arm robot on a mobile base. I followed the tutorial on configuring with setup assistant the pr2 robot. I successfully configured the mobile base, left and right arm, and I am able to move it with rviz plugin. Now I am trying to do a planning for both arms, so I created a subgroup of the arms. Sadly, in Rviz no interactive marker are shown. I have read other post that addressed the same problem, but I have not clear the reason why should be happen and how can I solve the problem.

The only debug that I can do is to read the warning on the shell that said:

[ERROR] [1436888402.551840309]: Group 'arms' is not a chain
[ERROR] [1436888402.551898772]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'arms'
[ERROR] [1436888402.552287027]: Kinematics solver could not be instantiated for joint group arms.


actually I read the same error when I start the pr2 demo in moveit, but there the interactive marker are shown. Any suggestions? I attach the surdf part of arm specification here:

P.s I am using moveit on Ubuntu 12.04, hydro version.

    <group name="left_arm">
        <chain base_link="Link_torso_1" tip_link="Link_wrist_sx_2" />
    </group>
    <group name="right_arm">
        <chain base_link="Mobile_plathform" tip_link="Link_wrist_dx_2" />
    </group>
    <group name="arms">
        <group name="left_arm" />
        <group name="right_arm" />
    </group>

Thank you!

[Jonathan Cacace]

Hi Guys. In the case other user have the same problem of me. Seems that one of the problem was the fact that the gripper was not well configured for both the arms. After the right configuration of the gripper both marker on the arms appear!