Interactive Markers do not show up

[ommmid]

Description

The Interactive Markers do not show up in RViz for panda robot.

After a little bit digging, I figured "panda_arm.xacro" in package "panda_moveit_config" creates this virtual_joint that I think is the reason of the problem above. I realized that if we change the type of joint in virtual_joint to "fixed", we do not get this warning: "TF has no common time between '/world' and 'panda_link0' " and the Interactive Markers show up in RViz without any problem. I also tried type "planar", this creates the above problem as well. I am not sure why that is but it seems these interactive markers need a fixed joint for connecting the robot base to the world to show up.

Your environment

• ROS Distro: Kinetic
• OS Version: Ubuntu 16.04
• Source or Binary build? Source

Steps to reproduce

http://docs.ros.org/kinetic/api/moveit_tutorials/html/index.html

Expected behaviour

The interactive markers are missing

Backtrace or Console output

Unable to update multi-DOF joint 'virtual_joint': TF has no common time between '/world' and 'panda_link0'

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