Using Moveit with the KUKA YouBot

[Marvin Gülzow]

Hello,

currently I'm trying to control the KUKA YouBot with Moveit. I have installed all the Debian packages for the robot and I am using ROS Indigo. I can simulate the robot in RViz, move the arm around using the mouse and execute basic planning tasks using moveit_commander (e.g. go candle), however these motions often use unnecessarily long paths. That's why I've downloaded the the recommended IK-Plugin by Sven Schneider (found here). Now I'd like to write my own ROS node in C++, but I do not know how to tell MoveIt to use Schneider's solver. The Motion Planning tutorial on the MoveIt site does load a plugin somehow but I cannot figure out how to include the downloaded solver. If I run the linked tutorial, I get the following error:

Exception while loading planner '': According to the loaded plugin descriptions the class  with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlanner
Available plugins: ompl_interface/OMPLPlanner

My questions are:

Where can I find a tutorial or code example which shows me how to include the solver in my node? 

Are there any configuration files I need to edit so they point to the new solver? 

Am I missing anything else? What alternatives do I have to using this solver?

Any help would be greatly appreciated :)

Best regards,

Marvin Gülzow

[Mutu]

Hey Marvin,

check this: http://wiki.ros.org/pluginlib/Tutorials/Writing%20and%20Using%20a%20Simple%20Plugin
Just include the plugin in your Code and your Toolchain.

Sincerely
mutu