Use a catkin package in another package

edit

Hi, I am on ROS Melodic, Ubuntu 18.04 I have the trac_ik package in my catkin workspace. When I do catkin_make, everything goes well. I have another package arm_moveit_config in which I modified the kinematics_solver in kinematics.yaml from the default kdl_kinematics_plugin/KDLKinematicsPlugin to trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin. But when I run the my program an error pops up at

```

const robot_state::JointModelGroup* joint_model_group1 = move_group.getCurrentState()->getJointModelGroup(planning_group_);

std::vector<std::string> jointNames = joint_model_group1->getSolverInstance()->getJointNames();

```

which says The kinematics plugin (arm) failed to load. Error: Could not find library corresponding to plugin trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. Kinematics solver could not be instantiated for joint group arm

I know this can be solved if I install trac_ik using sudo apt-get install ros-melodic-trac-ik-kinematics-plugin but I would like to know where I should modify to get the trac_ik kinematics plugin work

MoveIt's tutorial just says to add the package to the catkin workspace but I find that there could be something missing.

Any help would be really appreciated Thanks