Confusion regarding Reach_Ros plugins

[natalieCloud]

Hello!

So, currently I'm experiencing an error that I believe is somewhat similar to those mentioned here:

Failed to create plugin instance 'MoveItIKSolver' of type 'reach::IKSolverFactory'
Search Paths (including system folders)
Search Libraries:
    - libreach_plugins.so
Available plugins of type 'reach::IKSolverFactory':
    - NoOpIKSolver

At first I believed it to be a cmake/inclusion error, (as it was originally produced through running a node similar to the base reach_study_node in a seperate package), however when attempting to run the original reach_study_node through the base package I got the same result. What is especially interesting is that when I run the node through the provided launch file (& the same configurations) I get no such error.

Was wondering if there were any thoughts on this or ideas as to if I could be misinterpreting the build?

Additional info: Using colcon & ROS2 Humble

Thank you for your help!

[marip8]

What is especially interesting is that when I run the node through the provided launch file (& the same configurations) I get no such error.

Did you set the REACH_PLUGINS environment variable? The nominal demo launch file adds the name of the reach_ros plugin library (i.e., reach_ros_plugins) to this environment variable here. See this section of the README of this repo for more details about how to use plugins built outside of this repo

[natalieCloud]

It worked great! Thank you so much!!