Failed to initialize SBPL Planning Context

edit

Description of the problem:

• Configuration of Moveit! plugin for SBPL.

when launching demo.launch from the config package similar to pr2_sbpl_interface_config ; once a random goal is generated in Moveit!, the planner does not work and says:

[ INFO] [1562229334.760440827]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1562229334.760739121]: Planning attempt 1 of at most 1
[ WARN] [1562229334.761652434]: No configuration found for the 'arastar_bfs_manip' algorithm
[ INFO] [1562229334.761894482]: Created SBPL Robot Model for group 'right_arm'
[ INFO] [1562229334.761951416]: Set planning link to 'r_wrist_roll_link'
[ERROR] [1562229334.762113761]: Missing parameter 'search'
[ERROR] [1562229334.762158339]: Failed to initialize SBPL Planning Context

I cannot figure out why the parameter search is not seen.

The parameter is loaded with pr2_sbpl_interface_config/config/sbpl_planning.yaml; e.g.

$ rosparam get /move_group/search_configs/ARAConfig/search
arastar

Why should search parameter missing?