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Exception while loading planner 'ompl_interface/OMPLPlanner': Failed to load library /opt/ros/kinetic/lib/libmoveit_ompl_planner_plugin.so. [..]

The issue is not with the kinematics plugin you mention, but with MoveIt:

Error string: Could not load library (Poco exception = libmoveit_planning_interface.so.0.9.12: cannot open shared object file: No such file or directory)

Please see #q294137 for some background.

In your case: did you perform any partial upgrades of your .deb packages or do you have MoveIt compiled from sources? If yes to either of those: do a full upgrade and/or recompile your workspace.

If you compiled the kinematics plugin from source: clean out your devel and build spaces and recompile.

Exception while loading planner 'ompl_interface/OMPLPlanner': Failed to load library /opt/ros/kinetic/lib/libmoveit_ompl_planner_plugin.so. [..]

The issue is not with the kinematics plugin you mention, but with MoveIt:

Error string: Could not load library (Poco exception = libmoveit_planning_interface.so.0.9.12: cannot open shared object file: No such file or directory)

Please see #q294137 for some background.

In your case: did you perform any partial upgrades of your .deb packages or do you have MoveIt compiled from sources? If yes to either of those: do a full upgrade and/or recompile your workspace.

If you compiled the kinematics plugin from source: clean out your devel and build spaces and recompile.recompile. That is necessary in any case, but it probably won't influence the OMPL loading error.