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The kinematics plugin (arm) failed to load. and Kinematics solver could not be instantiated for joint group arm.

asked 2018-11-07 21:48:11 -0600

ruxuan.kuang521 gravatar image

updated 2018-11-08 02:15:53 -0600

gvdhoorn gravatar image

Hi, im a begginer of kinova, and im using ubuntu 16.04. im starting with moveit! for a virtual robot. Everything seems fine until i run:

roslaunch j2n6s300_moveit_config j2n6s300_virtual_robot_demo.launch

The error are:

ruxuan@ruxuan-Predator-G3-571:~$ roslaunch j2n6s300_moveit_config j2n6s300_virtual_robot_demo.launch
... logging to /home/ruxuan/.ros/log/4ed97efc-e307-11e8-9c10-f828197a2a1f/roslaunch-ruxuan-Predator-G3-571-7188.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.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://localhost:41765/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /joint_state_publisher/zeros/j2n6s300_joint_2: 3.1415
 * /joint_state_publisher/zeros/j2n6s300_joint_3: 3.1415
 * /move_group/allow_trajectory_execution: True
 * /move_group/allowed_execution_duration_scaling: 1.2
 * /move_group/allowed_goal_duration_margin: 0.5
 * /move_group/arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'joints': ['j2n...
 * /move_group/gripper/planner_configs: ['SBLkConfigDefau...
 * /move_group/initial: [{'pose': 'Home',...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /pick_place_demo/arm/solve_type: Manipulation2
 * /robot_connected: False
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: trac_ik_kinematic...
 * /robot_description_kinematics/arm/kinematics_solver_attempts: 3
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/arm/solve_type: Distance
 * /robot_description_planning/joint_limits/j2n6s300_joint_1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/j2n6s300_joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/j2n6s300_joint_1 ...
(more)
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Comments

This log output doesn't actually contain any errors. What behavior are you expecting here?

BryceWilley gravatar imageBryceWilley ( 2018-11-07 22:50:49 -0600 )edit

Please don't cross-post (ros-planning/moveit#1190).

gvdhoorn gravatar imagegvdhoorn ( 2018-11-08 02:14:34 -0600 )edit

1 Answer

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answered 2018-11-08 02:18:05 -0600

gvdhoorn gravatar image
[ERROR] [1541648137.484755679]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are  cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin j2n6s300_arm_kinematics/IKFastKinematicsPlugin j2s6s300_arm_kinematics/IKFastKinematicsPlugin j2s7s300_robot_arm_kinematics/IKFastKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin m1n6s300_mico_arm_kinematics/IKFastKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin

The important bit of this error message is this:

Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist.

In most cases, this means you don't actually have that plugin installed.

To make sure, check the output of dpkg -l | grep trac-ik. If you don't get any output, or if trac-ik-kinematics-plugin is not in the list, you don't have the package installed.

To install it:

sudo apt-get install ros-kinetic-trac-ik-kinematics-plugin
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Comments

thx a lot!

ruxuan.kuang521 gravatar imageruxuan.kuang521 ( 2018-11-08 14:33:21 -0600 )edit

it works fine right now!

ruxuan.kuang521 gravatar imageruxuan.kuang521 ( 2018-11-08 14:33:33 -0600 )edit

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Asked: 2018-11-07 21:48:11 -0600

Seen: 620 times

Last updated: Nov 08 '18