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[ERROR] [1541648137.484755679]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin j2n6s300_arm_kinematics/IKFastKinematicsPlugin j2s6s300_arm_kinematics/IKFastKinematicsPlugin j2s7s300_robot_arm_kinematics/IKFastKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin m1n6s300_mico_arm_kinematics/IKFastKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin
The important bit of this error message is this:
Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist.
In most cases, this means you don't actually have that plugin installed.
To make sure, check the output of dpkg -l | grep trac-ik. If you don't get any output, or if trac-ik-kinematics-plugin is not in the list, you don't have the package installed.
To install it:
sudo apt-get install ros-kinetic-trac-ik-kinematics-plugin
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