OMPL MoveIt! error in Kinetic

asked 2017-08-12 11:18:49 -0600

Matt_krainski
1 ●1 ●2 ●1

updated 2017-08-12 11:35:10 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

Ubuntu 16.04, ROS Kinetic

Hey, I'm trying to use moveIt with ROS Kinetic on Ubuntu 16.04. I'm just starting with MoveIt...

After configuring the robot with the moveit_setup_assistant, when I try to run the generated demo.launch I get

[ERROR] [1502554018.960375858]: Exception while loading planner 'ompl_interface/OMPLPlanner': Failed to load library /opt/ros/kinetic/lib/libmoveit_ompl_planner_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 = libompl.so.12: cannot open shared object file: No such file or directory). 
Available plugins: ompl_interface/OMPLPlanner

And later

[ WARN] [1502554019.325665808]: MoveGroup running was unable to load ompl_interface/OMPLPlanner

I have installed moveIt, by installing the ros-kinetic-moveit package, it seems like the ros-kinetic-moveit-planners-ompl and ros-kinetic-moveit-planners are also installed.

libompl is also installed, but not version 12 as it appears to be required... when I try to install libompl12 I get an Unable to locate package error.

The rviz part seems to work, I can move the robot, etc. just the planning module is not working...

Any advices?

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Thanks for the answer.

I've had ros-kinetic-ompl installed...

It's interesting - it didn't work at the beginning (even before I've tried to install libompl), but started now after I've purged libompl and ros-kinetic-ompl, and reinstalled ros-kinetic-moveit.