Even with the static_transform_publisher back, the cartesian demo still yields the error for me. Adding the virtual joint as floating type or planar removes the error. The demo still succeeds because it returns identity !

[ERROR] [1631501055.303124483]: Unable to transform from frame 'world' to frame 'panda_link0'. Returning identity.

This is because the virtual joint was changed to fixed. The robot model frame now points out to the root link instead of the world link from the SRDF.

The PlanningScene will fail to retrieve the "world" tf, and the PlanningSceneMonitor also. The PlanningSceneMonitor can retrieve the virtual link only if it was constructed with a tf_buffer. The static_transform_publisher must be set.

I suspect that if someone would run moveit_ros_benchmarks with and object wrt. the frame world, it would fail because the PlanningSceneMonitor would not be able to resolve the virtual tf (see here). You can't add object wrt. the world in the RViz MotionPlanning plugin, so this might not be triggered at all.

world frame not set in MTC demos #89

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