Unable to use MTC with UR5

[minku1219]

Hi, I am working upon MTC for using it with UR5. I tried using cartesian executable wihth UR5 but it did'nt worked and showed me an error.

Error:-

[cartesian-1] Failing stage(s): [cartesian-1] x +0.2 (0/1): missing ik_frame

Full log message :-

[INFO] [launch]: All log files can be found below /home/tcs/.ros/log/2024-09-10-12-00-02-734367-tcs-Precision-7710-68104 [INFO] [launch]: Default logging verbosity is set to INFO WARNING:root:Cannot infer URDF from /opt/ros/humble/share/ur_moveit_config. -- using config/ur.urdf WARNING:root:Cannot infer SRDF from /opt/ros/humble/share/ur_moveit_config. -- using config/ur.srdf [INFO] [cartesian-1]: process started with pid [68105] [cartesian-1] [INFO] [1725949803.501420331] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0461322 seconds [cartesian-1] [INFO] [1725949803.501527067] [moveit_robot_model.robot_model]: Loading robot model 'ur5'... [cartesian-1] [INFO] [1725949803.501541152] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [cartesian-1] Plan! [cartesian-1] PN6moveit16task_constructor11TaskPrivateE [cartesian-1] Init! [cartesian-1] 0 - ← 0 → - 0 / Cartesian Path [cartesian-1] 1 - ← 1 → - 0 / initial state [cartesian-1] - 0 → 0 → - 0 / x +0.2 [cartesian-1] Failing stage(s): [cartesian-1] x +0.2 (0/1): missing ik_frame [cartesian-1] -1 ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [cartesian-1] [INFO] [1725949815.137223296] [rclcpp]: signal_handler(signum=2) [INFO] [cartesian-1]: process has finished cleanly [pid 68105]