MoveIt Rviz "No planning library loaded"

asked 2016-05-19 07:26:50 -0600

jxbjnba gravatar image

Hello to all,

After finishing the "MoveIt! Setup Assistant" KUKA LWR I tried to start the rviz moveit plugin with following command:

roslaunch lwr_moveit_config demo.launch

Rviz starts, but MoveIt Rviz "No planning library loaded". The "demo.launch"-file generated by the "MoveIt! Setup Assistant":


<launch>

<arg name="db" default="false"/>

<arg name="db_path" default="$(find lwr_moveit_config)/default_warehouse_mongo_db"/>

<arg name="debug" default="false"/>

<include file="$(find lwr_moveit_config)/launch/planning_context.launch">

<arg name="load_robot_description" value="true"/>

</include>

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">

<param name="/use_gui" value="false"/>

<rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>

</node>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>

<include file="$(find lwr_moveit_config)/launch/move_group.launch">

<arg name="allow_trajectory_execution" value="true"/>

<arg name="fake_execution" value="true"/>

<arg name="info" value="true"/>

<arg name="debug" value="$(arg debug)"/>

</include>

<include file="$(find lwr_moveit_config)/launch/moveit_rviz.launch">

<arg name="config" value="true"/>

<arg name="debug" value="$(arg debug)"/>

</include>

<include file="$(find lwr_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">

<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>

</include>

</launch>

After starting Rviz, there is the hint: "no planning library loaded".

How can I solve that?

Many Thanks in advance .

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