Pepper base in gazebo not working properly

[Strider-Alex]

Hi, I was following the instrunctions to setup gazebo simulation for pepper. I can move head and arms with Moveit, but the base is not working properly. When I click generate random valid goal state, I get something like this:

Then if I set the goal state to a position in front of the start state and use RRTConnnectkConfigDefault planner , I get error saying

 [ WARN] [1585019218.260870595, 978.474000000]: The trajectory to execute specifies no joints
[ERROR] [1585019218.260891885, 978.474000000]: Apparently trajectory initialization failed
[ INFO] [1585019218.278537317, 978.491000000]: ABORTED: Solution found but controller failed during execution

The planner I used:

Any ideas to fix this? Thanks!

[MrAnderss0n]

@Strider-Alex I also faced with this problem and there is no solution for it IMO. If you wanna move pepper in Gazeb simulation use following command for instance, but it really different with the /pepper_dcm/move_to topic when you work with the real robot.

rostopic pub /pepper_dcm/WheelB_controller/command std_msgs/Float64 "data: -3.0"