Fix some issues on move_it.

Author: elector102

ar4_moveit_config/config/ar4.srdf

@@ -29,7 +29,19 @@
         <link name="gripper_base_link"/>
         <link name="gripper_jaw1_link"/>
         <link name="gripper_jaw2_link"/>
+        <joint name="gripper_jaw1_joint"/>
     </group>
+
+    <group name="ar4_arm_hand">
+        <group name="arm"/>
+        <group name="gripper"/>
+    </group>
+    <group_state group="gripper" name="open">
+        <joint name="gripper_jaw1_joint" value="0.035"/>
+    </group_state>
+    <group_state group="gripper" name="close">
+        <joint name="gripper_jaw1_joint" value="0"/>
+    </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
     <end_effector name="gripper" parent_link="link_6" group="gripper"/>
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->

ar4_moveit_config/config/moveit.rviz

@@ -103,6 +103,21 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
+          gripper_base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_jaw1_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_jaw2_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
           world:
             Alpha: 1
             Show Axes: false
@@ -130,7 +145,7 @@ Visualization Manager:
         Goal State Color: 250; 128; 0
         Interactive Marker Size: 0
         Joint Violation Color: 255; 0; 255
-        Planning Group: arm
+        Planning Group: ar4_arm_hand
         Query Goal State: true
         Query Start State: false
         Show Workspace: false