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Exception while loading move_group capability 'move_group/MoveGroupExecuteService' Melodic #413

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ri-ceres opened this issue Mar 27, 2019 · 1 comment
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Exception while loading move_group capability 'move_group/MoveGroupExecuteService' Melodic #413

ri-ceres opened this issue Mar 27, 2019 · 1 comment

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@ri-ceres
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Following the install instructions in a new workspace, trying to launch moveit planning using roslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch results in the exception below:

Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
[ERROR] [1553718233.791118746]: Exception while loading move_group capability 'move_group/MoveGroupExecuteService': MultiLibraryClassLoader: Could not create object of class type move_group::MoveGroupExecuteService as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...

Ubuntu 18.04
ROS Melodic
UR5e firmware 5.2.1

How do I fix this?
@ri-ceres
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I was able to fix this by replacing MoveGroupExecuteService with MoveGroupExecuteTrajectoryAction.

universal_robot/ur5_e_moveit_config/launch/move_group.launch

    <!-- MoveGroup capabilities to load -->
    <param name="capabilities" value="move_group/MoveGroupCartesianPathService
				      move_group/MoveGroupExecuteTrajectoryAction
				      move_group/MoveGroupKinematicsService
				      move_group/MoveGroupMoveAction
				      move_group/MoveGroupPickPlaceAction
				      move_group/MoveGroupPlanService
				      move_group/MoveGroupQueryPlannersService
				      move_group/MoveGroupStateValidationService
				      move_group/MoveGroupGetPlanningSceneService
				      move_group/ClearOctomapService
				      " />

@gavanderhoorn gavanderhoorn transferred this issue from ros-industrial/ur_modern_driver Mar 27, 2019
@Wifi-cable Wifi-cable mentioned this issue Feb 12, 2020
Closed
bostoncleek added a commit to bostoncleek/universal_robot that referenced this issue Jun 23, 2020
@bostoncleek
Replacing MoveGroupExecuteService with MoveGroupExecuteTrajectoryAction
654f9c3 
This is in reference to [ros-industrial#413](ros-industrial#413)
bostoncleek added a commit to bostoncleek/universal_robot that referenced this issue Jun 23, 2020
@bostoncleek
Replacing MoveGroupExecuteService with MoveGroupExecuteTrajectoryAction
a092fda 
This is in reference to ros-industrial#413
@Schellenberg3 Schellenberg3 mentioned this issue Jan 13, 2021
Closed
dudasdavid added a commit to dudasdavid/universal_robot that referenced this issue Mar 9, 2021
@dudasdavid
add a fix based on the following issue:
b6cc3be 
ros-industrial#413
lyh458 added a commit to lyh458/iiwa_qbhand that referenced this issue Jul 19, 2021
@lyh458
fix issue same as ros-industrial/universal_robot#413
3aafc91
lyh458 added a commit to lyh458/UR5-with-Robotiq-Gripper-and-Kinect that referenced this issue Jul 21, 2021
@lyh458
fix move_group.launch error same as ros-industrial/universal_robot#413
536bbbc
@FelixKHWong FelixKHWong mentioned this issue Oct 13, 2022
Merged
@FelixKHWong FelixKHWong mentioned this issue Oct 29, 2022
Merged
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@ri-ceres