ur_kinematics/UR5KinematicsPlugin failed

[yt100323]

ros: indigo
os: ubuntu 14.04
my problem is that when i add a robotiq gripper to ur5, and then the ur_kinematics seems failed when using moveit to plan to a random pose while the bare ur5 model works fine

[gavanderhoorn]

when i add a robotiq gripper to ur5

if you've also updated the chain in your srdf, then that is probably why things stopped working: the plugins in ur_kinematics only work for the exact kinematics of the manipulator. No additional joints.

[yt100323]

@gavanderhoorn Thank you for you replay, I have generated a new srdf file like this

and group "manipulator" do not add additional joint, what is the problem?

[gavanderhoorn]

what is the problem?

I'm not sure: what is the problem now?

Note: the chain is defined as base_link->ee_link in the original UR5 SRDF.