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Hello,

I just install moveit for melodic from that tutorial: http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/getting_started/getting_started.html

When I run the demo example, I get that error:

roslaunch panda_moveit_config demo.launch

Error:

[ INFO] [1621332924.648205185]: Loading robot model 'panda'...
[ INFO] [1621332925.050765019]: Loading robot model 'panda'...
[ERROR] [1621332925.103988618]: Group 'hand' is not a chain
[ERROR] [1621332925.104022297]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'hand'
[ERROR] [1621332925.104066937]: Kinematics solver could not be instantiated for joint group hand.

And then I want to run the move group tutorial:

roslaunch moveit_tutorials move_group_interface_tutorial.launch

And I get that error:

process[move_group_interface_tutorial-1]: started with pid [14504]
[ INFO] [1621332944.240649978]: Loading robot model 'panda'...
[ERROR] [1621332944.313543425]: Group 'hand' is not a chain
[ERROR] [1621332944.313574409]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'hand'
[ERROR] [1621332944.313611102]: Kinematics solver could not be instantiated for joint group hand.

I see the robot arm in Rviz but I can't interact with rviz gui. What did I made wrong?


Originally posted by arno on ROS Answers with karma: 5 on 2021-05-18

Post score: 0


Original comments

Comment by Ranjit Kathiriya on 2021-05-18:\

could not be initialized for group 'hand'

I think you have to check your group it should be set to arm, not hand. Over here the word hand means that you are solving the kinematics of your gripper, not your panda arm.

In short, change the planning group to panda arm instead of hand. I think t this may be the issue if is not working feel free to drop a comment.

Comment by arno on 2021-05-19:
Ok thank you, it works properly now

Comment by fvd on 2021-05-20:
Could you make that a response @Ranjit?

Comment by Ranjit Kathiriya on 2021-05-20:
Thanks! @fvd. I have to repost to answer as I did right?

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1 Answer 1

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could not be initialized for group 'hand'

I think you have to check your group it should be set to arm, not hand. Over here the word hand means that you are solving the kinematics of your gripper, not your panda arm.

In short, change the planning group to panda arm instead of hand. I think t this may be the issue if is not working feel free to drop a comment.


Originally posted by Ranjit Kathiriya with karma: 1622 on 2021-05-20

This answer was ACCEPTED on the original site

Post score: 1

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