No kinematics solver instantiated when called robot_state.setFromIK() after running demo.launch.py

[julyfun]

Description

See Steps to reproduce.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• Binary build
• 2.5.5-1jammy

Steps to reproduce

• Setup a new robot from urdf using Setup Assistant. I have set ik solver to KDLPlugin.
• Run demo.launch.py under the package generated by Setup Assistant
• In another cpp node:

Get MoveGroupInterface:

        node_for_move_group(std::make_shared<rclcpp::Node>("node_for_move_group")),
        move_group_interface(node_for_move_group, this->group_name),

Get RobotState and setFromIK():

        auto kinematic_state = *(this->move_group_interface.getCurrentState());
        bool found_ik = kinematic_state.setFromIK(this->joint_model_group, to, 10);

The full code is here: https://github.com/julyfun/fast_control/blob/c4eb5653791bcce04657a497453795800ce8895d/ik/src/moveit.cpp#L965

Expected behaviour

Get the IK result in kinematic_state

Backtrace or Console output

The Ik failed with:

[ik_moveit_exe-1] [ERROR] [1723098198.752732000] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'left_dual2'

No other error or warning.

[rhaschke]

You need to ensure that your other cpp node also gets the kinematics parameters. Probably there is another warning complaining about missing kinematics parameters.

[julyfun]

You need to ensure that your other cpp node also gets the kinematics parameters. Probably there is another warning complaining about missing kinematics parameters.

Thank you! I've found another warning during the launch time of the cpp node.

[ik_moveit_exe-1] [WARN] [1723100872.151901380] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!

Would you please remind me of how can a cpp node get kinematics parameters?