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Hi all,

I am following through the Moveit! Industrial Robot Tutorial and got stuck.

when I add motion planning or any from the moveit_ros_visualization folder, it will show the same error:

MotionPlanning The class required for this display, 'moveit_rviz_plugin/MotionPlanning', could not be loaded.

Error: Failed to load library /opt/ros/hydro/lib/libmoveit_motion_planning_rviz_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 = liborocos-kdl.so.1.3: cannot open shared object file: No such file or directory)

However, the libmoveit_motion_planning_rviz_plugin.so is right in its place.

How can I solve this?

This is the screenshot

Originally posted by sara on ROS Answers with karma: 35 on 2014-10-06

Post score: 1


1 Answer 1


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It looks like the MoveIt plugin for Rviz depends on a particular version of the Orocos KDL library that isn't present.

I would start by making sure that all of your packages are up to date:

sudo apt-get update
sudo apt-get dist-upgrade

Originally posted by ahendrix with karma: 47576 on 2014-10-06

This answer was ACCEPTED on the original site

Post score: 5

Original comments

Comment by gvdhoorn on 2014-10-07:
See also moveit_ros/issues/482.

Comment by anonymous28838 on 2017-06-09:
Do you have an alternate solution for this? http://answers.ros.org/question/263585/rviz-motion-planning-error-failed-to-load-motion-planning-plugin-library/

Comment by ahendrix on 2017-06-09:
Nope. It looks like the plugin is compiled against packages that use OpenCV 2.4, and can't be used with a different version.


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