Failed to intall / register the plugin

[JeroenDM]

When I configure a robot to use the plugin and launch the default demo.launch I get the error:

ros.moveit_ros_planning: The kinematics plugin (manipulator) failed to load. Error:
According to the loaded plugin descriptions the class moveit_opw_kinematics_plugin/MoveItOPWKinematicsPlugin 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 ur_kinematics/UR10KinematicsPlugin
ur_kinematics/UR3KinematicsPlugin ur_kinematics/UR5KinematicsPlugin
ros.moveit_ros_planning: Kinematics solver could not be instantiated for joint group manipulator.

The kinematics.yaml file looks like this:

manipulator:
  kinematics_solver: moveit_opw_kinematics_plugin/MoveItOPWKinematicsPlugin
  kinematics_solver_geometric_parameters:
    a1:  0.025
    a2: -0.035
    b:   0.000
    c1:  0.400
    c2:  0.315
    c3:  0.365
    c4:  0.080
  kinematics_solver_joint_offsets: [0.0, -1.57079632679, 0, 0, 0, 0]

I'm using the universal robot kinematics plugin as a reference for the configuration. This resulted in several things:

• A description file.
• A call to the CLASS_LOADER_REGISTER_CLASS macro in the source file.
• Several settings in the CMakeLists.txt.

I looked around in the MoveIt API and in the KDL en srv plugins, but I've not found the problem yet.

[JeroenDM]

This problem was already solved with the commit mentioned above, but the initialization of the plugin still contained errors. This is now solved after commit 3cd2427bcd327b1c3d1dfe83259d494ab69aca42.