Path Planning using moveIt with a closed-loop chain

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Hi everyone,

I am working on an robot arm which happens to be a closed-loop kinematic chain. I achieved to have a somewhat accurate simulation with gazebo7.

Now I have installed ros Indigo and I want to do some path planning with moveIt, and view it with rViz. So, I set up my robot to get the .sdrf file and everything works... except when I close my loop with the last joint.. The simulation doesnt take into account this joint.

When I check the shell it tells me that:

[ERROR] [1469600994.580670671]: Joint 'lely_arm__verin2/base' not found in model 'origins'

also:

[ERROR] [1469601613.254367292]: Kinematics solver N21srv_kinematics_plugin19SrvKinematicsPluginE does not support joint group g.  Error: This plugin only supports joint groups which are chains

Is it plain impossible to work on a closed loop or did i miss something?

Thank you very much