ResourceNotFound: [lbr_iiwa_moveit_config] error with MoveIt package

asked 2016-02-26 18:17:37 -0500

atoz gravatar image


I'm working on the ROS-Industrial tutorials and am stuck at exercise 3.4. I get the above error when I try to use roslaunch on a launch file created with the MoveIt assistant. The command is:

roslaunch lbr_iiwa_moveit_cfg moveit_planning_execution.launch

The code at which the error occurs is:

<include file="$(find lbr_iiwa_moveit_config)/launch/kuka_lbr_iiwa_14_r820_moveit_controller_manager.launch.xml" />

This line of code is in the trajectory_execution.launch.xml file- one of many created by the MoveIt assistant.Rest of the file:

<!-- This file makes it easy to include the settings for trajectory execution  -->  

  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
  <arg name="moveit_manage_controllers" default="true"/>
  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>

  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
  <param name="allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
  <param name="allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->

  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
<!--   <arg name="moveit_controller_manager" default="kuka_lbr_iiwa_14_r820" /> -->
  <include file="$(find lbr_iiwa_moveit_config)/launch/kuka_lbr_iiwa_14_r820_moveit_controller_manager.launch.xml" />


The peculiar thing is the error only occurs on this particular line even though other launch files in the same package also use the same find command to find the package successfully. The stack printout is:

logging to /home/work/.ros/log/eaeb32e4-dcdf-11e5-8e93-000c29a38561/roslaunch-ubuntu-42341.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last):
  File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/", line 307, in main
  File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/", line 268, in start
  File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/", line 217, in _start_infrastructure
  File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/", line 132, in _load_config
    roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
  File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/", line 451, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/", line 730, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
  File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/", line 702, in _load_launch
    self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
  File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/", line 666, in _recurse_load
    val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
  File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/", line 95, in call
    return f(*args, **kwds)
  File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/", line 609, in _include_tag
    default_machine, is_core, verbose)
  File "/opt/ros/jade/lib/python2.7/dist-packages/roslaunch/", line 666, in _recurse_load
    val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
  File ...
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Is this with the IIWA support package from the kuka_experimental repository, or a custom one?

gvdhoorn gravatar image gvdhoorn  ( 2016-02-27 03:48:38 -0500 )edit

And obviously: what does rospack find lbr_iiwa_moveit_config return? Don't type it, copy the exact package name from either the error message, or from the include line in the failing launch file.

gvdhoorn gravatar image gvdhoorn  ( 2016-02-27 03:51:09 -0500 )edit

Yes this is the IIWA package from the kuka_experimental repository. The rospack command works fine- returns:


As I said, the error only occurs at a single location. Other instances of find <package> work fine

atoz gravatar image atoz  ( 2016-02-27 05:28:54 -0500 )edit

If you can make your lbr_iiwa_moveit_config package available (through github fi) I'm willing to take a look. Otherwise it'll probably be hard to diagnose.

gvdhoorn gravatar image gvdhoorn  ( 2016-02-27 05:50:26 -0500 )edit

It's available at:

There is a folder missing : default_warehouse_mongo_db - the files are too big to upload. Don't look critical though

atoz gravatar image atoz  ( 2016-02-27 08:32:31 -0500 )edit