How do I set MoveIt! to use the source installation ompl for ros indigo?

[gxxzs]

I install moveit from source for ros indigo according to the steps did in ros-planning/moveit_ros#623, How do I set MoveIt! to use the source installation of ompl for ros indigo? After i remove ros-indigo-ompl and install ompl from source, moveit cannot load ompl unless I do "sudo apt-get install ros-indigo-ompl" or “”sudo apt-get install ros-rosversion -d-ompl”. My installayion process:

1.Installed MoveIt from source and "sudo apt-get remove ros-indigo-ompl" to remove ompl after moveit installed successfully.
2.MoveIt path in my ubuntu was:~/ws_moveit
Installation Link:http://moveit.ros.org/install/
Installation link:http://picknik.io/moveit_wiki/index.php?title=OMPL/Add_New_Planner
http://moveit.ros.org/install/source/dependencies/
3. install ompl from source
cd ~/catkin_ws/src
git clone https://github.com/ompl/ompl.git
cd ompl/
 wget https://raw.githubusercontent.com/ros-gbp/ompl-release/debian/indigo/trusty/ompl/package.xml

cd ~/catkin_ws catkin_make_isolated

Now moveit cannot load ompl, when i run "roslaunch pi_robot_moveit_config demo.launch" [ERROR] [1505903843.188977089]: Exception while loading planner 'ompl_interface/OMPLPlanner': Failed to load library /home/zs/ws_moveit/devel/lib/libmoveit_ompl_planner_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 = libompl.so.10: cannot open shared object file: No such file or directory) Available plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner

i konw something should be do to link ompl to moveit, but I donot know how, can anyone give me some advice, thanks.

[davetcoleman]

Please see source installation instructions for OMPL here. Note that they are for ROS Kinetic.

[gxxzs]

http://moveit.ros.org/install/source/dependencies/ I have installed OMPL from source and correct the "wget https://raw.githubusercontent.com/ros-gbp/ompl-release/debian/indigo/trusty/ompl/package.xml" in ros indigo ,but the moveit still cannot load ompl. Did i have to turn to the Ros Kinetic? @davetcoleman @garaemon

[gxxzs]

I run the catkin build as http://moveit.ros.org/install/source/dependencies/ something still wrong with it

zs@zs:~/ompl$ catkin build
--------------------------------------------------------------------------------
Profile:                     default
Extending:             [env] /home/zs/catkin_ws/devel:/home/zs/ws_moveit/devel:/opt/ros/kinetic
Workspace:                   /home/zs/ompl
--------------------------------------------------------------------------------
Source Space:       [exists] /home/zs/ompl/src
Log Space:         [missing] /home/zs/ompl/logs
Build Space:        [exists] /home/zs/ompl/build
Devel Space:        [exists] /home/zs/ompl/devel
Install Space:      [unused] /home/zs/ompl/install
DESTDIR:            [unused] None
--------------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
--------------------------------------------------------------------------------
[build] No packages were found in the source space '/home/zs/ompl/src'
[build] No packages to be built.
[build] Package table is up to date.                                           
Starting  >>> catkin_tools_prebuild                                            
Finished  <<< catkin_tools_prebuild                [ 1.3 seconds ]             
[build] Summary: All 1 packages succeeded!                                     
[build]   Ignored:   None.                                                     
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 1.3 seconds total.                                            
zs@zs:~/ompl$ catkin build
--------------------------------------------------------------------------------
Profile:                     default
Extending:             [env] /home/zs/catkin_ws/devel:/home/zs/ws_moveit/devel:/opt/ros/kinetic
Workspace:                   /home/zs/ompl
--------------------------------------------------------------------------------
Source Space:       [exists] /home/zs/ompl/src
Log Space:          [exists] /home/zs/ompl/logs
Build Space:        [exists] /home/zs/ompl/build
Devel Space:        [exists] /home/zs/ompl/devel
Install Space:      [unused] /home/zs/ompl/install
DESTDIR:            [unused] None
--------------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------------------------------
[build] No packages were found in the source space '/home/zs/ompl/src'
[build] No packages to be built.
[build] Package table is up to date.                                           
[build] Summary: All 0 packages succeeded!                                     
[build]   Ignored:   None.                                                     
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 0.0 seconds total.