ompl error
ros indigo
ubuntu 14.04 trusty
when i launch:
roslaunch clam_moveit_config move_group.launch
i get:
[ERROR] [1410255339.968987526]: Exception while loading planner 'ompl_interface/OMPLPlanner': According to the loaded plugin descriptions the class ompl_interface/OMPLPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are
Available plugins:
[ WARN] [1410255340.750304310]: MoveGroup running was unable to load ompl_interface/OMPLPlanner
contents of ompl_planning_pipeline.launch :
<launch>
<!-- OMPL Plugin for MoveIt! -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<rosparam command="load" file="$(find clam_moveit_config)/config/kinematics.yaml"/>
<rosparam command="load" file="$(find clam_moveit_config)/config/ompl_planning.yaml"/>
</launch>
ompl_planning.yaml :
planner_configs:
SBLkConfigDefault:
type: geometric::SBL
LBKPIECEkConfigDefault:
type: geometric::LBKPIECE
RRTkConfigDefault:
type: geometric::RRT
RRTConnectkConfigDefault:
type: geometric::RRTConnect
LazyRRTkConfigDefault:
type: geometric::LazyRRT
ESTkConfigDefault:
type: geometric::EST
KPIECEkConfigDefault:
type: geometric::KPIECE
RRTStarkConfigDefault:
type: geometric::RRTstar
BKPIECEkConfigDefault:
type: geometric::BKPIECE
arm:
planner_configs:
- SBLkConfigDefault
- LBKPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- ESTkConfigDefault
- KPIECEkConfigDefault
- BKPIECEkConfigDefault
- RRTStarkConfigDefault
projection_evaluator: joints(shoulder_pan_joint,shoulder_pitch_joint)
longest_valid_segment_fraction: 0.05
gripper_group:
planner_configs:
- SBLkConfigDefault
- LBKPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- ESTkConfigDefault
- KPIECEkConfigDefault
- BKPIECEkConfigDefault
- RRTStarkConfigDefault