Trouble Inplementing STOMP with Baxter

[yxd5208]

Hello, I'm working with a Baxter Research Robot and I plan ton implement STOMP as a motion planner. My OS is Ubuntu 14.04 So far, every function of moveit works well. I followed the instruction on http://sdk.rethinkrobotics.com/wiki/MoveIt_Tutorial to install Moveit! for Baxter. Just now, I followed the instruction in this repository to implement STOMP with MoveIt but it gives me this error:

while processing /home/baxterdev/catkin_ws/src/moveit_robots/baxter/baxter_moveit_config/launch/move_group.launch:
while processing /home/baxterdev/catkin_ws/src/moveit_robots/baxter/baxter_moveit_config/launch/planning_pipeline.launch:
while processing /home/baxterdev/catkin_ws/src/moveit_robots/baxter/baxter_moveit_config/launch/stomp_planning_pipeline.launch:
Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/home/baxterdev/catkin_ws/src/moveit_robots/baxter/baxter_moveit_config/launch/stomp_planning_pipeline.launch'
The traceback for the exception was written to the log file

I changed this line in the stomp_planning_pipeline.launch.xml:

<rosparam command="load" file="$(find baxter_moveit_config)/config/stomp_planning.yaml"/>

And I changed the move_group.launch file as instructed too.

I wonder what would be causing the error? Should I have a stomp_planning_pipeline.launch from somewhere? Is there a way that I can implement this package this way without having to create a new moveit package using moveit setup assistant?

Thank you!!

[jrgnicho]

You need to create a yaml file to configure stomp. See here for an example