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PR2 Moveit Tutorial - Kinematics Plugin failed to load [closed]

asked 2014-05-04 23:27:17 -0600

Rabe gravatar image

updated 2014-11-22 17:05:46 -0600

ngrennan gravatar image

Hello,

I am trying to follow the PR2 MoveIt Tutorial here: docs.ros.org/api/moveit_ros_visualization/html/doc/tutorial.html. But after entering roslaunch pr2_moveit_config demo.launch I get various errors for each group:

[ERROR] [1399281344.376185685]: The kinematics plugin (left_arm) failed to load. Error: Failed to load library /home/kuka/Programs/moveit/devel/lib/libpr2_moveit_arm_kinematics.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 = /home/kuka/Programs/moveit/devel/lib/libpr2_moveit_arm_kinematics.so: undefined symbol: _ZN10kinematics14KinematicsBase9setValuesERKSsS2_S2_RKSt6vectorISsSaISsEEd)
[ERROR] [1399281344.470927551]: The kinematics plugin (left_arm_and_torso) failed to load. Error: Failed to load library /home/kuka/Programs/moveit/devel/lib//libmoveit_kdl_kinematics_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 = /home/kuka/Programs/moveit/devel/lib//libmoveit_kdl_kinematics_plugin.so: undefined symbol: _ZN10kinematics14KinematicsBase9setValuesERKSsS2_S2_RKSt6vectorISsSaISsEEd)
[ERROR] [1399281344.558265962]: The kinematics plugin (right_arm) failed to load. Error: Failed to load library /home/kuka/Programs/moveit/devel/lib/libpr2_moveit_arm_kinematics.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 = /home/kuka/Programs/moveit/devel/lib/libpr2_moveit_arm_kinematics.so: undefined symbol: _ZN10kinematics14KinematicsBase9setValuesERKSsS2_S2_RKSt6vectorISsSaISsEEd)
[ERROR] [1399281344.652086203]: The kinematics plugin (right_arm_and_torso) failed to load. Error: Failed to load library /home/kuka/Programs/moveit/devel/lib//libmoveit_kdl_kinematics_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 = /home/kuka/Programs/moveit/devel/lib//libmoveit_kdl_kinematics_plugin.so: undefined symbol: _ZN10kinematics14KinematicsBase9setValuesERKSsS2_S2_RKSt6vectorISsSaISsEEd)

Rviz then continues to launch and shows the PR2. When I then continue the tutorial, I notice 3 things:

  • At the end of step 1 in the tutorial, the screenshot shows that the current group is highlighted in green. This doesn't happen for me

  • Even when I'm in the interact mode, I can only move the camera and nothing regarding the roboter

  • No markers show up to interact with the roboter (As shown in the screenshot in step 3).

The missing library descriped in the error is in the path it is supposed to be, and I don't know what to do with the undefined symbol.

I am using ROS Hydro on Ubuntu 12.04 64bit, I uploaded the complete output here: gist.github.com/rabenimmermehr/0b094c1ad032cb90ac0d (Sorry for the link formatting, I have insufficient karma)

Thanks in advance,

Rabe

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Closed for the following reason the question is answered, right answer was accepted by Rabe
close date 2014-05-14 04:26:12

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answered 2014-05-14 04:25:51 -0600

Rabe gravatar image

Seems like some packages failed to install. After a complete reinstall, everything workes as expected.

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Asked: 2014-05-04 23:27:17 -0600

Seen: 1,070 times

Last updated: May 04 '14