Group 'virtual' does not have a parent link

[IngaVS]

Description

I added a mobile base to my arm, it worked by ompl RRTConnect, but ompl_chomp couldn't work, it had errors "[ERROR] [1730610460.643921078]: Group 'mobile_base_arm' does not have a parent link [ERROR] [1730610460.643940712]: Group 'virtual' does not have a parent link" These two group had the virtual joint. I switched the planning library to ompl_chomp, after pressing the "plan" button, the program crashed. I found that the crash occured in chomp_optimizer.cpp void ChompOptimizer::computeJointProperties(int trajectory_point) {.... std::string parent_link_name = joint_model->getParentLinkModel()->getName(); }

[ INFO] [1730621369.875840083]: Starting planning scene monitor
[ INFO] [1730621369.877478439]: Listening to '/move_group/monitored_planning_scene'
[ERROR] [1730621370.299959955]: Group 'mobile_base_arm' does not have a parent link
[ERROR] [1730621370.300002634]: Group 'virtual' does not have a parent link
[ INFO] [1730621370.302320407]: Constructing new MoveGroup connection for group 'mobile_base_arm' in namespace ''
[ INFO] [1730621371.482072881]: Ready to take commands for planning group mobile_base_arm.
[ INFO] [1730621383.275728707]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1730621383.275953968]: Using planning pipeline 'ompl_chomp'
[ INFO] [1730621383.279648429]: Planner configuration 'mobile_base_arm[RRTConnect]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1730621383.281055852]: mobile_base_arm/mobile_base_arm[RRTConnect]: Starting planning with 1 states already in datastructure
[ INFO] [1730621383.281150362]: mobile_base_arm/mobile_base_arm[RRTConnect]: Starting planning with 1 states already in datastructure
[ INFO] [1730621383.281326554]: mobile_base_arm/mobile_base_arm[RRTConnect]: Starting planning with 1 states already in datastructure
[ INFO] [1730621383.281408817]: mobile_base_arm/mobile_base_arm[RRTConnect]: Starting planning with 1 states already in datastructure
[ INFO] [1730621383.293426162]: mobile_base_arm/mobile_base_arm[RRTConnect]: Created 5 states (2 start + 3 goal)
[ INFO] [1730621383.293496846]: mobile_base_arm/mobile_base_arm[RRTConnect]: Created 5 states (2 start + 3 goal)
[ INFO] [1730621383.293687284]: mobile_base_arm/mobile_base_arm[RRTConnect]: Created 5 states (2 start + 3 goal)
[ INFO] [1730621383.293870821]: mobile_base_arm/mobile_base_arm[RRTConnect]: Created 5 states (2 start + 3 goal)
[ INFO] [1730621383.294136510]: ParallelPlan::solve(): Solution found by one or more threads in 0.013760 seconds
[ INFO] [1730621383.306541096]: SimpleSetup: Path simplification took 0.012223 seconds and changed from 4 to 2 states
[ INFO] [1730621385.836918334]: CHOMP trajectory initialized using method: fillTrajectory 
[ INFO] [1730621385.836996877]: The following collision detectors are available in the planning scene.
[ INFO] [1730621385.837008734]: HYBRID
[ INFO] [1730621385.837021116]: Active collision detector is: HYBRID
[ INFO] [1730621385.885232137]: First coll check took 0.048190204
[move_group-5] process has died [pid 23815, exit code -11, cmd /home/inga/code/ws_moveit/devel/lib/moveit_ros_move_group/move_group --debug __name:=move_group __log:=/home/inga/.ros/log/f067ef72-99ba-11ef-8fde-77bdc7672eef/move_group-5.log].
log file: /home/inga/.ros/log/f067ef72-99ba-11ef-8fde-77bdc7672eef/move_group-5*.log

Your environment

• ROS Distro: [Noetic]
• OS Version: e.g. Ubuntu 20.04
• source build, master branch