moveit_planners not installing chomp

[mjforan]

ROS Distro

Jazzy

OS and version

Ubuntu 24.04

Source or binary build?

Binary

If binary, which release version?

2.12.1

Steps to Reproduce

moveit_planners in package.xml
rosdep install ...
Result: move_group crashes because chomp not found.

moveit_planners_chomp to package.xml
rosdep install ...
Result: successful startup

[sea-bass]

Do you have more detailed steps? Both the commands you ran and the exact errors you are seeing.

moveit_planners declares an execution dependency on chomp_motion_planner, so rosdep should pick it up.

moveit2/moveit_planners/moveit_planners/package.xml

Line 22 in 2566467

<exec_depend>chomp_motion_planner</exec_depend>

[mjforan]

moveit_planners does install ros-jazzy-chomp-motion-planner, but move_group also requires ros-jazzy-moveit-planners-chomp.

I basically followed the tutorial and substituted in my own robot's details. I am running demo.launch.py and get this error:

control-1        | [move_group-2] [FATAL] [1736629917.224762011] [move_group.moveit.moveit.ros.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlanner stomp_moveit/StompPlannerAvailable plugins: ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner, stomp_moveit/StompPlanner
control-1        | [move_group-2] terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
control-1        | [move_group-2]   what():  According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlanner stomp_moveit/StompPlanner
control-1        | [move_group-2] Stack trace (most recent call last):
control-1        | [move_group-2] #16   Object "/usr/lib/aarch64-linux-gnu/ld-linux-aarch64.so.1", at 0xffffffffffffffff, in 
control-1        | [move_group-2] #15   Object "/opt/ros/jazzy/lib/moveit_ros_move_group/move_group", at 0x5555c2b61d6f, in _start
control-1        | [move_group-2] #14   Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0x7fff4b5c8597, in __libc_start_main
control-1        | [move_group-2] #13   Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0x7fff4b5c84c3, in 
control-1        | [move_group-2] #12   Object "/opt/ros/jazzy/lib/moveit_ros_move_group/move_group", at 0x5555c2b60743, in main
control-1        | [move_group-2] #11   Object "/opt/ros/jazzy/lib/libmoveit_cpp.so.2.12.1", at 0x7fff4c01eb13, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptr<rclcpp::Node> const&, moveit_cpp::MoveItCpp::Options const&)
control-1        | [move_group-2] #10   Object "/opt/ros/jazzy/lib/libmoveit_cpp.so.2.12.1", at 0x7fff4c01a1b7, in moveit_cpp::MoveItCpp::loadPlanningPipelines(moveit_cpp::MoveItCpp::PlanningPipelineOptions const&)
control-1        | [move_group-2] #9    Object "/opt/ros/jazzy/lib/libmoveit_planning_pipeline_interfaces.so.2.12.1", at 0x7fff4b27376b, in moveit::planning_pipeline_interfaces::createPlanningPipelineMap(std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptr<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
control-1        | [move_group-2] #8    Object "/opt/ros/jazzy/lib/libmoveit_planning_pipeline.so.2.12.1", at 0x7fff4b116f93, in planning_pipeline::PlanningPipeline::PlanningPipeline(std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptr<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
control-1        | [move_group-2] #7    Object "/opt/ros/jazzy/lib/libmoveit_planning_pipeline.so.2.12.1", at 0x7fff4b116883, in planning_pipeline::PlanningPipeline::configure()
control-1        | [move_group-2] #6    Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.33", at 0x7fff4b85a983, in __cxa_rethrow
control-1        | [move_group-2] #5    Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.33", at 0x7fff4b850e03, in std::terminate()
control-1        | [move_group-2] #4    Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.33", at 0x7fff4b85a56f, in 
control-1        | [move_group-2] #3    Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.33", at 0x7fff4b85d4d7, in __gnu_cxx::__verbose_terminate_handler()
control-1        | [move_group-2] #2    Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0x7fff4b5c7dff, in abort
control-1        | [move_group-2] #1    Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0x7fff4b5dcb3b, in raise
control-1        | [move_group-2] #0    Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0x7fff4b627628, in 
control-1        | [move_group-2] Aborted (Signal sent by tkill() 69 0)
control-1        | [ERROR] [move_group-2]: process has died [pid 69, exit code -6, cmd '/opt/ros/jazzy/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_rc0z644s --params-file /tmp/launch_params_l2bygw0f'].

[mikeferguson]

Yeah, we should change that line that @sea-bass mentioned - I didn't notice that when I previously uncommented it in b88af32 - moveit_planners_chomp depends on chomp_motion_planner - should have kept the other one... PR here: #3229

[sea-bass]

Ah thanks! I misread the issue description saying that moveit_chomp_planner was added to the moveit_planners/package.xml to fix the issue.