Exception while loading planner TrajOpt

asked 2018-12-17 12:51:38 -0600

DieterWuytens gravatar image

updated 2018-12-18 06:37:22 -0600

gvdhoorn gravatar image

Hello, I'm trying to use the planner TrajOpt in my RViz robot scene. I installed the trajopt_ros package from github:


I also made a package, for my robot, for running the TrajOpt planner. The error i got while executing roslaunch robot_trajopt_config demo.launch is the following:

[ERROR] [1545071206.926927862]: Exception while loading planner 'trajopt_interface_ros::TrajoptPlanner': According to the loaded plugin descriptions the class trajopt_interface_ros::TrajoptPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  chomp_interface/CHOMPPlanner constrained_ik/CLIKPlanner ompl_interface/OMPLPlanner stomp_moveit/StompPlannerManager

Available plugins: chomp_interface/CHOMPPlanner, constrained_ik/CLIKPlanner, ompl_interface/OMPLPlanner, stomp_moveit/StompPlannerManager

--> after starting RViz it also says: MoveGroup running was unable to load trajopt_interface_ros::TrajoptPlanner

In the package of the robot there is a trajopt_planning_pipeline.launch.xml file where i call for the planner.

arg name="planning_plugin" value="trajopt_interface_ros::TrajoptPlanner"

What is causing the error? Somehow the planner is not defined in plugin descriptions? I also tried a catkin clean and build, but no changes.

Thanks, Dieter

Edit: I execute this:

rosdep install --from-paths src/ --ignore-src --rosdistro kinetic
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
trajopt_examples: Cannot locate rosdep definition for [tesseract_ros]

I'm new, so sorry if i ask weird questions.

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What is causing the error?

For some reason the plugin loader cannot find the class that you're trying to instantiate.

How did you "install [..] trajopt_ros package from github" exactly?

gvdhoorn gravatar imagegvdhoorn ( 2018-12-17 13:54:03 -0600 )edit

I installed the package with: git clone -b kinetic-devel [link to github package] After that catkin build. Is that not the right way to do it?

DieterWuytens gravatar imageDieterWuytens ( 2018-12-17 14:13:15 -0600 )edit

Was the build successful? The pkgs in that repository have quite a few (build) dependencies, so I would be surprised if you actually already have all of those installed on your system.

Did you run rosdep?

gvdhoorn gravatar imagegvdhoorn ( 2018-12-17 15:07:52 -0600 )edit

Well first no, while building catkin workspace a lot of errors happened, but i saw that the following packages where required so i also downloaded them the same way. Packages: "ivcon", "pr2_common", "tesseract". After catkin build no errors left. I did not run rosdep! How should this be done? Thanks

DieterWuytens gravatar imageDieterWuytens ( 2018-12-17 15:13:17 -0600 )edit

See #q252478.

Please try to not install dependencies of your ROS packages by hand. It's a tedious and error prone process.

gvdhoorn gravatar imagegvdhoorn ( 2018-12-17 15:18:26 -0600 )edit

I removed all packages previously installed, i started over. Shouldn't rosdep automatically install the required dependencies?

DieterWuytens gravatar imageDieterWuytens ( 2018-12-17 16:56:57 -0600 )edit

Shouldn't rosdep automatically install the required dependencies?

yes, if package authors have correctly specified their dependencies.

tesseract_ros is a package in the tesseract repository. You'll have to add that to your ..

gvdhoorn gravatar imagegvdhoorn ( 2018-12-18 06:39:43 -0600 )edit

.. workspace and build it all.

The binary/released dependencies should then be installed using rosdep.

As Tesseract is still under development, you may run into some additional problems. I would advise you to post those over at the Tesseract issue tracker.

gvdhoorn gravatar imagegvdhoorn ( 2018-12-18 06:42:03 -0600 )edit