Jafar Uruç

After digging for a while in the last Travis errors I think they are related to `panda_moveit_config` -- [trajopt_planning.yaml](https://github.com/ros-planning/panda_moveit_config/blob/melodic-devel/config/trajopt_planning.yaml) added after the last `panda_moveit_config` sync. and Travis don't install it...

@mechwiz Please review

Hi @lm2292, yeah it's usable, actually we've been using it for multiple projects without any problem, but unfortunately foxy was missing some important fixes (I forgot what they were) which...

It fails because of this `ros.moveit_core.robot_state: getFrameTransform() did not find a frame with name box/bottom.`

> I do not really get my head around this, but I did not try to reproduce it locally. > The error looks like the `RobotState::getFrameTransform` had previously had the...

> It fails because of this `ros.moveit_core.robot_state: getFrameTransform() did not find a frame with name box/bottom.` The reason why this happens is these lines will call the SceneTransforms's isFixedFrame [1](https://github.com/ros-planning/moveit/blob/master/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp#L297),...

After spending a couple of hours on this, I came out with a conclusion that we shouldn't remove SceneTransforms 1- The only way to have a scene_transforms_ as nullptr is...

@v4hn @rhaschke What's blocking this PR .? I'm working on finalizing it this week

> I tried several ways but can't seem to get it to work It would be great if you could share the logs or the error you're getting > Also...

Hi @lotus824, It can't find `probot_anno_gripper_arm::GetFreeParameters()`, can you provide more info? Is it possible to share your CMakeLists.txt file? or a reproducible example?