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PilzDE / pilz_robots

PILZ robot manipulator module PRBT 6 in ROS
https://wiki.ros.org/pilz_robots
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prbt ik fast plugin not found (install space) #76

Closed Chamango90 closed 5 years ago

Chamango90 commented 5 years ago

Commit

current (3e8b31e)

Steps to reproduce

sudo apt install ros-kinetic-pilz-robots
source /opt/ros/kinetic/setup.bash
roslaunch prbt_moveit_config moveit_planning_execution.launch

Expected behavior

Simulated robot with MoveIt functionality.

Observed behavior

MoveIt fails and one does e.g. not get the interactive marker.

Logfiles

[ERROR] [1551087039.833746901]: The kinematics plugin (manipulator) failed to load. Error: Failed to load library /opt/ros/kinetic/lib//libprbt_manipulator_moveit_ikfast_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libmoveit_kinematics_base.so.0.9.15: cannot open shared object file: No such file or directory)
[ERROR] [1551087039.833831435]: Kinematics solver could not be instantiated for joint group manipulator.

It does work if I build the package prbt_ikfast_manipulator_plugin from source. I would imagine that an installation step is missing for the libprbt_manipulator_moveit_ikfast_plugin.so.

jschleicher commented 5 years ago

Please try a full apt upgrade. Probaly you have an old version of kinematics_base installed and are missing the recent kinematics_base.so?

From your error message:

libmoveit_kinematics_base.so.0.9.15: cannot open shared object file: No such file or directory

If you install new packages you should always apt update && apt upgrade first. (SONAMES and ABI compatibility...)

Chamango90 commented 5 years ago

Thank you for your quick answer. You are right, the upgrade solved the issue.