# Planning trajectories with a mounted tool

**URL:** <https://forum.compas-framework.org/t/planning-trajectories-with-a-mounted-tool/766>\
**Category:** compas\_fab\
**Created:** [September 6, 2023, 3:00pm UTC](https://forum.compas-framework.org/t/planning-trajectories-with-a-mounted-tool/766 "2023-09-06T15:00:11Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![sabrina](https://avatars.discourse-cdn.com/v4/letter/s/51bf81/32.png) [@sabrina](https://forum.compas-framework.org/u/sabrina)\
**Post date:** [September 6, 2023, 3:00pm UTC](https://forum.compas-framework.org/t/planning-trajectories-with-a-mounted-tool/766/1 "2023-09-06T15:00:11Z")

</div>

Hi everyone,

I’m having some troubles planning motion after mounting a tool on my robot. When i compute the trajectory, I have this message : “Message type moveit\_msgs/GetCartesianPathRequest does not have a field start\_state.attached\_collision\_objects.object.pose”.  
I don’t get whats wrong. My tool can be visualized correctly in Rhino.

Thanks for any help  
Sab

---

<div class="post-metadata">

**Author:** ![gonzalocasas](https://sea1.discourse-cdn.com/flex015/user_avatar/forum.compas-framework.org/gonzalocasas/32/127_2.png) [@gonzalocasas](https://forum.compas-framework.org/u/gonzalocasas)\
**Post date:** [February 21, 2024, 9:15pm UTC](https://forum.compas-framework.org/t/planning-trajectories-with-a-mounted-tool/766/2 "2024-02-21T21:15:52Z")

</div>

Hey Sabrina,

I only now got this notification, sorry. I don’t know if this error is still relevant for you, but this is related to the version of ROS you are using vs the version of COMPAS FAB you have. There seems to be an incompatibility. If you run on Noetic and latest compas\_fab, you shouldn’t have this problem. If there’s a different combination, please let me know which versions you have and I will verify what’s going on.

Cheers  
Gonzalo