MoveItPy RuntimeError: Planning plugin name is empty or not defined in namespace 'ompl'

[elsa9334]

Description

Want to run MoveItPy using a UR arm.

Your environment

• ROS Distro: Jazzy
• OS Version: e.g. Ubuntu 22.04
• Source build, main branch

Steps to reproduce

First the robot is connected to the computer using this command. The launch file was downloaded from UR Robot and no changes were made. ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=${ROBOT_IP:-XXX.XXX.X.XXX} launch_rviz:=false initial_joint_controller:=joint_trajectory_controller Afterwards, we run this command ros2 launch custom_package ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true

Expected behaviour

The intended output is for RVIZ to open and show the current pose of the robot. The terminal outputs this error, opens RVIZ, and the robot lays flat, panda = MoveItPy(node_name="moveit_py_planning_scene") ur_moveit-1 | [moveit_py.py-2] ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ur_moveit-1 | [moveit_py.py-2] RuntimeError: Planning plugin name is empty or not defined in namespace 'ompl'. Please choose one of the available plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner, planning_pipeline_test/DummyPlannerManager, stomp_moveit/StompPlanner

Backtrace or Console output

The files I used (moveit_py.py, ur_moveit.launch.py, moveit_cpp.yaml) are linked here. moveit_cpp.yaml is based on this comment

[lmyhit]

hello, have you addressed this problem? I have the same: [moveit_py.py-2] RuntimeError: Planning plugin name is empty or not defined in namespace 'ompl'. Please choose one of the available plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner, planning_pipeline_test/DummyPlannerManager, stomp_moveit/StompPlanner

[elsa9334]

Hi,

unfortunately we have not. In the mean time we're still using ROS2 Humble and c++.