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Does not load planning adapter plugin

asked 2021-04-15 05:01:58 -0500

tidenhub gravatar image

Hello,

I'm trying to write my own planning adapter plugin based on the Tutorial: http://wiki.ros.org/industrial_trajec...

The build does not throw any errors but during the start of the launch file I get the following error:

[ERROR] [1618479719.360767428]: Exception while loading planning adapter plugin 'safety_planning_request_adapters/AddSafety': According to the loaded plugin descriptions the class safety_planning_request_adapters/AddSafety with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are  chomp/OptimizerAdapter default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds

planning_request_adapters_plugin_description.xml:

<library path="libsafety_planning_request_adapters">
  <class name="safety_planning_request_adapters/AddSafety"
         type="safety_planning_request_adapters::AddSafety"
         base_class_type="planning_request_adapter::PlanningRequestAdapter">
    <description>
    </description>
  </class>
</library>

package.xml:

<package format="3">
  <name>safety_planning_request_adapters</name>
  <version>0.0.1</version>
  <description>The safety_planning_request_adapters package</description>
  <maintainer email="david.tiede@mailbox.tu-dresden.de">David Tiede</maintainer>
  <license>TODO</license>
  <buildtool_depend>catkin</buildtool_depend>
  <depend>moveit_ros_planning</depend>
  <depend>roscpp</depend>
  <depend>std_msgs</depend>
  <depend>trajectory_msgs</depend>
  <export>
    <moveit_core plugin="${prefix}/planning_request_adapters_plugin_description.xml"/>
  </export>
</package>

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(safety_planning_request_adapters)

find_package(catkin REQUIRED COMPONENTS
        roscpp
        std_msgs
        moveit_ros_planning
        trajectory_msgs)

catkin_package(
        LIBRARIES ${PROJECT_NAME}
        CATKIN_DEPENDS moveit_ros_planning trajectory_msgs
)

include_directories(${catkin_INCLUDE_DIRS})

add_library(${PROJECT_NAME} src/add_safety.cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})


install(TARGETS ${PROJECT_NAME}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

install(DIRECTORY include/${PROJECT_NAME}/
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})

install(FILES planning_request_adapters_plugin_description.xml
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

Repository: https://git-st.inf.tu-dresden.de/tide...

ROS_VERSION=1
ROS_PYTHON_VERSION=2
ROS_DISTRO=melodic

I don't know what step I have missed or which line might be wrong. Any tips would be appreciated.

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Comments

It's very likely the tutorial you refer to has bit-rotted, and your planning adapter is missing something which newer versions of MoveIt require.

I'd suggest consulting the MoveIt version of the tutorial: Creating MoveIt Plugins.

gvdhoorn gravatar image gvdhoorn  ( 2021-04-15 10:49:08 -0500 )edit

@gvdhoorn I saw this tutorial, but this one is only about integrating the available planning adapters.

tidenhub gravatar image tidenhub  ( 2021-04-16 04:30:10 -0500 )edit

I linked the wrong tutorial.

I've updated my comment.

It's not specifically about planning adapters, but the same infrastructure is used for them.

gvdhoorn gravatar image gvdhoorn  ( 2021-04-16 05:38:01 -0500 )edit

1 Answer

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answered 2021-04-20 11:46:43 -0500

tidenhub gravatar image

updated 2021-04-20 11:47:04 -0500

I found a solution. Some dependencies were missing in the package.xml:

  <depend>moveit_core</depend>
  <depend version_gte="1.11.2">pluginlib</depend>
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Asked: 2021-04-15 05:01:58 -0500

Seen: 62 times

Last updated: Apr 20