MoveIt kinematics plugin

edit

Hi,

I have used the MoveIt setup assistant to generate an initial configuration for a ur5 manipulator. During the setup wizard, I specified two planning groups, manipulator and tool. For the planning group, manipulator, I have used the following kinematics solver: kdl_kinematics_plugin. One would want to use the UR5KinematicsPlugin as it appears to be the most relevant for developing a solution for ur5 robotic arm. I will shortly explain, my reason to use the kdl_kinematics_plugin, and also my question.

Having generated the configuration inside a folder within a ROS workspace ~/Desktop/IMPLEMENTATIONS/zahid_test_ws/src/ur5_sa_config, I do the following steps to test it.

cd ~/Desktop/IMPLEMENTATIONS/zahid_test_ws/
catkin_make
source devel/setup.bash
roslaunch ur5_sa_config  demo.launch rviz_tutorial:=true

Another thing to notice is that inside ~/Desktop/IMPLEMENTATIONS/zahid_test_ws/src/ur5_sa_config/config/kinematics.yaml I have the following:

manipulator:
  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.005

rviz launches fine, and I am able to test simple motion plans using the interaction marker and changing different start and goal configurations. However, I see the following on the terminal where I launched the demo.lauch.

[ERROR] [1576084155.915723352]: The kinematics plugin (manipulator) failed to load. Error: Could not find library corresponding to plugin ur_kinematics/UR5KinematicsPlugin. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
[ERROR] [1576084155.915757707]: Kinematics solver could not be instantiated for joint group manipulator.

My reasons for changing from UR5KinematicsPlugin to kdl_kinematics_plugin was to avoid this error. I would like to use UR5KinematicsPlugin the plugin but then the error appears. Any inputs, why I receive this error, and how can I fix this.

thank you,

Zahid

EDIT

thank you for your answer.

I had cloned the original repository of universal_robots into my catkin_ws using the following command.

cd ~/catkin_ws/src
git clone https://github.com/ros-industrial/universal_robot.git
catkin build
source ~/catkin_ws/devel/setup.bash

This builds correctly. And, within this directory, I have the the following files libur*_moveit_plugin.so at the following location ~/catkin_ws/devel/lib.

My own implementation workspace is different from this, i.e., located at ~/Desktop/IMPLEMENTATIONS/zahid_test_ws/. However, I am sourcing both before I issue any launch commands, i.e.,

source ~/catkin_ws/devel/setup.bash
source devel/setup.bash

and further, I specifically added the following path to ROS_PACKAGE_PATH, export ROS_PACKAGE_PATH=/home/zahid/catkin_ws:$ROS_PACKAGE_PATH.

Shouldn't this be able to locate the necessary paths.

I rechecked, and I am getting the similar problems.

thanks,

Zahid