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Cross posting my answer from https://github.com/ros-planning/moveit/issues/616 for better googlability...

In order for the interactive marker to appear, the group must have a kinematic solver attached to it.

Check your kinematics.yaml to make sure you've specified the correct group name and kinematic solver AND check log outputs to make sure there were no errors when loading the kinematic solver

If you see the following line

[kinematics_plugin_loader]: The kinematics plugin (your gorup name) failed to load.

you are very likely to get the No active joints or end effectors found for group error (which also directly leads to the missing interactive marker)

Cross posting my answer from https://github.com/ros-planning/moveit/issues/616 for better googlability...

In order for the interactive marker to appear, the group must have a kinematic solver attached to it.

Check your kinematics.yaml to make sure you've specified the correct group name and kinematic solver AND check log outputs to make sure there were no errors when loading the kinematic solver

If you see the following line

[kinematics_plugin_loader]: The kinematics plugin (your gorup group name) failed to load.

you are very likely to get the No active joints or end effectors found for group error (which also directly leads to the missing interactive marker)

Cross posting my answer from https://github.com/ros-planning/moveit/issues/616 for better googlability...

In order for the interactive marker to appear, the group must have a kinematic solver attached to it.

Check your kinematics.yaml to make sure you've specified the correct group name and kinematic solver AND check log outputs to make sure there were no errors when loading the kinematic solver

If you see the following line

[kinematics_plugin_loader]: The kinematics plugin (your group name) failed to load.

you are very likely to get the No active joints or end effectors found for group error (which also directly leads to the missing interactive marker)

Cross posting my answer from https://github.com/ros-planning/moveit/issues/616 for better googlability...

In order for the interactive marker to appear, the group must have a kinematic solver attached to it.

Check your kinematics.yaml to make sure you've specified the correct group name and kinematic solver AND check log outputs to make sure there were no errors when loading the kinematic solver

If you see the following line

[kinematics_plugin_loader]: The kinematics plugin (your group name) failed to load.

you are very likely to get the No active joints or end effectors found for group error (which also directly leads to the missing interactive marker)

Another way that might fix this is to click "Add" in the rviz display panel, select "By Topic" and add the topic /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update topic which should be of type InteractiveMarkers. Not sure if this is a bug or something due to incorrect setup...

There can be multiple reasons the interactive marker fails to load

Solution 1: Fix kinematics solver

In order for the interactive marker to appear, the group must have a kinematic solver attached to it.

Check your kinematics.yaml to make sure you've specified the correct group name and kinematic solver AND check log outputs to make sure there were no errors when loading the kinematic solver

If you see the following line

[kinematics_plugin_loader]: The kinematics plugin (your group name) failed to load.

you are very likely to get the No active joints or end effectors found for group error (which also directly leads to the missing interactive marker)

Solution 2: Manually add the interactive marker

Another way that might fix this is to click "Add" in the rviz display panel, select "By Topic" and add the topic /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update topic which should be of type InteractiveMarkers. Not sure if this is a bug or something due to incorrect setup...

Note that although the InteractiveMarker is added as an external as an extra display, the marker still interacts correctly with the moveit plugin

There can be multiple reasons the interactive marker fails to load

Solution Possibility 1: Fix kinematics solversolver not set up correctly

In order for the interactive marker to appear, the group must have a kinematic solver attached to it.

Check your kinematics.yaml to make sure you've specified the correct group name and kinematic solver AND check log outputs to make sure there were no errors when loading the kinematic solver

If you see the following line

[kinematics_plugin_loader]: The kinematics plugin (your group name) failed to load.

you are very likely to get the No active joints or end effectors found for group error (which also directly leads to the missing interactive marker)

ref

Solution Possibility 2: Manually add the interactive markerSome bug causing MoveIt rviz plugin to not "find" the interactive marker server

Another way that might fix this is to click Click "Add" in the rviz display panel, select "By Topic" and add the topic /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update topic which should be of type InteractiveMarkers. Not sure if this is a bug or something due to incorrect setup...

Note that although the InteractiveMarker is added as an external as an extra display, the marker still interacts correctly with the moveit plugin

There can be multiple reasons the interactive marker fails to load

Possibility 1: kinematics solver not set up correctly

In order for the interactive marker to appear, the group must have a kinematic solver attached to it.

Check your kinematics.yaml to make sure you've specified the correct group name and kinematic solver AND check log outputs to make sure there were no errors when loading the kinematic solver

If you see the following line

[kinematics_plugin_loader]: The kinematics plugin (your group name) failed to load.

you are very likely to get the No active joints or end effectors found for group error (which also directly leads to the missing interactive marker)

ref

Possibility 2: Some bug Something causing MoveIt rviz plugin to not "find" the interactive marker server

Click "Add" in the rviz display panel, select "By Topic" and add the topic /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update topic which should be of type InteractiveMarkers. Not sure if this is a bug or something due to incorrect setup...

Note The InteractiveMarker that although the InteractiveMarker is gets added as an external as an extra display, the marker will still interacts work correctly with the moveit MoveIt rviz plugin

There can be multiple reasons the interactive marker fails to load

Possibility 1: kinematics solver not set up correctly

In order for the interactive marker to appear, the group must have a kinematic solver attached to it.

Check your kinematics.yaml to make sure you've specified the correct group name and kinematic solver AND check log outputs to make sure there were no errors when loading the kinematic solver

If you see the following line

[kinematics_plugin_loader]: The kinematics plugin (your group name) failed to load.

you are very likely to get the No active joints or end effectors found for group error (which also directly leads to the missing interactive marker)

ref

Possibility 2: Something causing MoveIt rviz plugin to not "find" the interactive marker server

Click "Add" in the rviz display panel, select "By Topic" and add the topic /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update topic which should be of type InteractiveMarkers. The InteractiveMarker that gets added will still work correctly with the MoveIt rviz plugin

Possibility 3: Issues with FastDDS (seems more prominent in docker containers)

Try switching to CycloneDDS by following these instructions