IkFast Plugin fail to load

asked 2019-08-13 03:17:06 -0600

luca123 gravatar image

updated 2019-08-13 08:53:56 -0600

Hello, guys, i generated a iKFast plugin for moveit, but i met a problem. when i launch panda_moveit_config demo.launch, everything is ok, but when i rosrun my node, which will use move_group.move() function to move robot to targeted pose, and it will turn out the following error( plugin fail to load), but i can still plan my robot.

Output in console:

[ERROR] [1565683587.994017715]: The kinematics plugin (panda_arm) failed to load. Error: According to the loaded plugin descriptions the class panda_arm_panda_arm_kinematics/IKFastKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are  cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
[ERROR] [1565683587.994133629]: Kinematics solver could not be instantiated for joint group panda_arm.

i have looked for the plugin_descriptionsfile and the package.xml . i think it has added all the required things in my description file for plugin:ik_kinematics_description.xml:

<?xml version='1.0' encoding='UTF-8'?>
<library path="lib/libpanda_arm_panda_arm_moveit_ikfast_plugin">
  <class name="panda_arm_panda_arm_kinematics/IKFastKinematicsPlugin" type="ikfast_kinematics_plugin::IKFastKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
    <description>IKFast61 plugin for closed-form kinematics</description>

in my package.xml:

    <!-- Other tools can request additional information be placed here -->
    <moveit_core plugin="${prefix}/panda_arm_panda_arm_moveit_ikfast_plugin_description.xml"/>

and i cmd rospack plugins --attrib=plugin moveit_core, it outputs following, the plugin is already register

moveit_planners_ompl /opt/ros/kinetic/share/moveit_planners_ompl/ompl_interface_plugin_description.xml
moveit_ros_control_interface /opt/ros/kinetic/share/moveit_ros_control_interface/moveit_core_plugins.xml
panda_arm_ikfast_panda_arm_plugin /home/xcell/ikfast_ws/src/panda_arm_ikfast_panda_arm_plugin/panda_arm_panda_arm_moveit_ikfast_plugin_description.xml

i dont know where does it problem ?can you help me to solve this problem thank you in advance

edit retag flag offensive close merge delete


can you please make sure your post is properly formated

ct2034 gravatar image ct2034  ( 2019-08-13 07:18:33 -0600 )edit