MoveIt Kinematics Solver No kinematics solver instantiated for this group

Question

Hi everyone,

I followed the moveit kinematics C++ API because I want to use the inverse kinematics solver. Firstly, I created my own URDF file, followed the tutorial about the MoveIt! Setup Assistant and created the config package for my robot.

The problem appears when I call setFromIK function from my JointStateGroup, the log shows:

[ERROR] [1360777186.680515210]: No kinematics solver instantiated for this group

And this is my launch file:

<launch>

<include file="$(find test_kinematics)/launch/upload_urdf.launch"/>

<node name="test_kinematics" pkg="test_kinematics" type="test_kinematics" respawn="false" output="screen">
 <rosparam name="kinematics_solver" command="load" file="$(find jim_moveit_config)/config/kinematics.yaml"/>
</node>

<node name="rviz" pkg="rviz" type="rviz" />

</launch>

And my kinematics.yaml file:

main_arm:
  kinematics_solver: pr2_arm_kinematics/PR2ArmKinematicsPlugin
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.05

main_arm is the name of my JointStateGroup.

Do you know where is my mistake ?

Thanks for your help ;)

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Originally posted by arthur_ on ROS Answers with karma: 56 on 2013-02-13

Post score: 0

Answer 1

I found the solution. I used RobotModelLoader instead of KinematicsModelLoader to load the robot description. KinematicsModelLoader initializes the kinematics solver whereas RobotModelLoader doesn't.

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Originally posted by arthur_ with karma: 56 on 2013-02-14

This answer was ACCEPTED on the original site

Post score: 4

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Original comments

Comment by zhangli on 2016-10-17:
which header file did you add when using KinematicsModelLoader?

Comment by JonasG on 2018-06-07:
@arthur_ Did the KinematicsModelLoader exist? I don't finde something about it. I have a similar problem. I have uploaded my urdf, srdf and the kinematics.yaml, but it gives me an error: No kinematics solver instantiated for group 'arm_1'

It would be great, if you can help me out.