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Hi, I am on ROS Melodic, Ubuntu 18.04 I have the trac_ik package in my catkin workspace. When I do catkin_make, everything goes well. I have another package arm_moveit_config in which I modified the kinematics_solver in kinematics.yaml from the default kdl_kinematics_plugin/KDLKinematicsPlugin to trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin. But when I run the my program an error pops up at


const robot_state::JointModelGroup* joint_model_group1 = move_group.getCurrentState()->getJointModelGroup(planning_group_);

std::vector<std::string> jointNames = joint_model_group1->getSolverInstance()->getJointNames();

which says The kinematics plugin (arm) failed to load. Error: Could not find library corresponding to plugin trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin. Make sure the plugin description XML file has the correct name of the library and that the library actually exists. Kinematics solver could not be instantiated for joint group arm

I know this can be solved if I install trac_ik using sudo apt-get install ros-melodic-trac-ik-kinematics-plugin but I would like to know where I should modify to get the trac_ik kinematics plugin work

MoveIt's tutorial just says to add the package to the catkin workspace but I find that there could be something missing.

Any help would be really appreciated Thanks


Originally posted by shyamashi on ROS Answers with karma: 66 on 2022-05-18

Post score: 0


Original comments

Comment by aarsh_t on 2022-05-18:
Ideally it should work out of the box. I am using it with melodic.

by any chance if you have installed anything related to track-IK using apt, it can cause issue. so remove anything do sudo apt remove ros-melodic-trac-ik*.

but I would like to know where I should modify to get the trac_ik kinematics plugin work

To answer your question, here you can rename the solver plugin class name. Which should be same as what you put in the kinematics.yaml.

After that can you try building only track_ik_kinematics_plugin may be using catkin build?

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thanks for the reply. I could get it working when I removed the build and devel folder and redid catkin_make


Originally posted by shyamashi with karma: 66 on 2022-06-15

This answer was ACCEPTED on the original site

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