The Kinematics plugin (manipulator) failed to load
I've been trying to get ROS to work with a fanuc 200id, and I'm running into an error whenever I try to run this section of code:
roslaunch fanuc_lrmate200id_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=10.0.0.93
The error it generates is as follows:
[ERROR] [1482361035.715386305]: The kinematics plugin (manipulator) failed to load. Error: Failed to load library /home/rnd/catkin_ws/devel/lib//libfanuc_lrmate200id_manipulator_moveit_ikfast_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libmoveit_kinematics_base.so.0.9.1: cannot open shared object file: No such file or directory)
[ERROR] [1482361035.715445991]: Kinematics solver could not be instantiated for joint group manipulator.
I'm not really sure how to proceed, any help would be appreciated.
thanks
Can you please add which version of ROS this is, on which OS, how you installed both ROS and your OS, etc? I'm also guessing that you're building the entire Fanuc set of packages from sources? Please tell us how you setup your workspace in that case.
The "Poco exception" makes me suspect that you built the Fanuc packages some time ago, then updated MoveIt and did not rebuild your workspace. The sonames were added to MoveIt quite recently, and were added to avoid ABI problems by basically 'breaking' ppl's workspaces.
I installed Ubuntu 16.04 from a USB drive, and installed ROS by following the tutorial here: http://wiki.ros.org/kinetic/Installat... I built the Fanuc_indigo_experimental packages not long after installing ROS itself, perhaps a few weeks had elapsed at most.
I setup my catkin workspace by following this tutorial: http://wiki.ros.org/ROS/Tutorials/Cre... I placed the fanuc experimental packages in the src folder inside catkin_ws.
Thanks for your help so far, let me know if there's anymore information I can provide.
Ok. And seeing as you have Kinetic installed: did you build MoveIt from sources as well?