Hello,

I'm trying to use Moveit2 to plan trajectories for a mobile robot, namely the turtlebot3. I have added a planar virtual joint between the base frame of my robot (base_footprint) and the frame "world" in the srdf file. I'm struggling now to set goal pose for my robot. I'm using the setGoal() function as follows:

geometry_msgs::msg::PoseStamped goal_pose; goal_pose.header.stamp=rclcpp::Clock().now(); goal_pose.pose.position.x=2; goal_pose.pose.position.y=0; goal_pose.pose.position.z=0; goal_pose.pose.orientation.x=0; goal_pose.pose.orientation.y=0; goal_pose.pose.orientation.z=0; goal_pose.pose.orientation.w=0; moveit::planning_interface::PlanningComponent arm("turtlebot", moveit_cpp_); arm.setGoal(goal_pose, "base_footprint");

Here is the error I got:
[run_TB3_cpp-2] Parsing robot urdf xml string. [run_TB3_cpp-2] [WARN] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml! [run_TB3_cpp-2] [WARN] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known. Missing virtual_joint [run_TB3_cpp-2] [WARN] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known. Missing virtual_joint [run_TB3_cpp-2] [WARN] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known. Missing virtual_joint [run_TB3_cpp-2] [WARN] [moveit_kinematic_constraints.kinematic_constraints]: No frame specified for position constraint on link 'base_footprint'! [run_TB3_cpp-2] [WARN] [moveit_kinematic_constraints.kinematic_constraints]: Orientation constraint for link 'base_footprint' is probably incorrect: 0.000000, 0.000000, 0.000000, 0.000000. Assuming identity instead. [run_TB3_cpp-2] [WARN] [moveit_kinematic_constraints.kinematic_constraints]: No frame specified for position constraint on link 'base_footprint'! [run_TB3_cpp-2] [ERROR] [moveit_ompl_planning.model_based_planning_context]: Unable to construct goal representation [run_TB3_cpp-2] [ERROR] [moveit.ros_planning_interface.planning_component]: Could not compute plan successfully
Any idea? Thanks.