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The fact there is no lib/ folder is problematic. Did you compile the ikfast package? Make sure the xml file you mentioned is next to a package.xml (in the directory structure) and that the package.xml specifies a dependency on moveit_core.

The planning library and the kinematics library are different, so seeing OMPL is fine, but the kinematics lib itself fails to load.

The ~moveit_controller_manager plugin needs to specify the name of the plugin that can execute trajectories. Is the config launch file you mentioned included in the correct namespace? It needs to be in the namespace of move_group.