diff --git a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.hpp b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.hpp
index 6a2f11da4a..5277fd4d0c 100644
--- a/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.hpp
+++ b/moveit_kinematics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.hpp
@@ -127,6 +127,8 @@ class SrvKinematicsPlugin : public kinematics::KinematicsBase
    */
   const std::vector<std::string>& getVariableNames() const;
 
+  bool supportsGroup(const moveit::core::JointModelGroup* jmg, std::string* error_text_out = nullptr) const override;
+
 protected:
   bool setRedundantJoints(const std::vector<unsigned int>& redundant_joint_indices) override;
 
diff --git a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
index 44c86b0691..a26415fb19 100644
--- a/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
+++ b/moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
@@ -422,4 +422,17 @@ const std::vector<std::string>& SrvKinematicsPlugin::getVariableNames() const
   return joint_model_group_->getVariableNames();
 }
 
+bool SrvKinematicsPlugin::supportsGroup(const moveit::core::JointModelGroup* jmg, std::string* error_text_out) const
+{
+  if (!jmg)
+  {
+    if (error_text_out)
+    {
+      *error_text_out = "No joint model group provided";
+    }
+    return false;
+  }
+  return true;
+}
+
 }  // namespace srv_kinematics_plugin