The isaac_ros_cumotion_moveit plugin version incompatibility

[pawelir]

Hi, I run into incompatibility issue between isaac_ros_cumotion 3.2.0 and moveit 2.5.6 on ROS Humble. It seems like isaac_ros_cumotion_moveit plugin was built against moveit in version 2.5.5 and in that shape released to apt manager. As a result there is no way to successfully load cumotion planner with moveit having them both in the apt newest versions (3.2.0 and 2.5.6 respectively).

I managed to solve it by building isaac_ros_cumotion_moveit from source.

Crucial line:

[move_group-6] [ERROR] [1735908667.170689276] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'isaac_ros_cumotion_moveit/CumotionPlanner': Failed to load library /opt/ros/humble/lib/libisaac_ros_cumotion_moveit.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: libmoveit_planning_interface.so.2.5.5: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99Available plugins: isaac_ros_cumotion_moveit/CumotionPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner

Full logs:

[move_group-6] [INFO] [1735908667.159480936] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'isaac_ros_cumotion'
[move_group-6] [WARN] [1735908667.160436982] [pluginlib.ClassLoader]: given plugin name 'libisaac_ros_cumotion_moveit' should be 'isaac_ros_cumotion_moveit' for better portability
[move_group-6] [ERROR] [1735908667.170689276] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'isaac_ros_cumotion_moveit/CumotionPlanner': Failed to load library /opt/ros/humble/lib/libisaac_ros_cumotion_moveit.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: libmoveit_planning_interface.so.2.5.5: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99Available plugins: isaac_ros_cumotion_moveit/CumotionPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
[move_group-6] [INFO] [1735908667.172121989] [moveit_ros.add_time_optimal_parameterization]: Param 'isaac_ros_cumotion.path_tolerance' was not set. Using default value: 0.100000
[move_group-6] [INFO] [1735908667.172129350] [moveit_ros.add_time_optimal_parameterization]: Param 'isaac_ros_cumotion.resample_dt' was not set. Using default value: 0.100000
[move_group-6] [INFO] [1735908667.172131318] [moveit_ros.add_time_optimal_parameterization]: Param 'isaac_ros_cumotion.min_angle_change' was not set. Using default value: 0.001000
[move_group-6] [INFO] [1735908667.172140167] [moveit_ros.fix_workspace_bounds]: Param 'isaac_ros_cumotion.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-6] [INFO] [1735908667.172146444] [moveit_ros.fix_start_state_bounds]: Param 'isaac_ros_cumotion.start_state_max_bounds_error' was set to 0.100000
[move_group-6] [INFO] [1735908667.172148526] [moveit_ros.fix_start_state_bounds]: Param 'isaac_ros_cumotion.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-6] [INFO] [1735908667.172152833] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-6] [INFO] [1735908667.172154857] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-6] [INFO] [1735908667.172156890] [moveit_ros.fix_start_state_collision]: Param 'isaac_ros_cumotion.max_sampling_attempts' was not set. Using default value: 100
[move_group-6] [INFO] [1735908667.172172907] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-6] [INFO] [1735908667.172174789] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-6] [INFO] [1735908667.172176005] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-6] [INFO] [1735908667.172177312] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-6] [INFO] [1735908667.172178487] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-6] [INFO] [1735908667.172179646] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-6] [ERROR] [1735908667.173232000] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'isaac_ros_cumotion'.
[move_group-6] [INFO] [1735908667.173635384] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-6] [INFO] [1735908667.179335011] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-6] [INFO] [1735908667.180548566] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000
[move_group-6] [INFO] [1735908667.180554651] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000
[move_group-6] [INFO] [1735908667.180556605] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000
[move_group-6] [INFO] [1735908667.180565149] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-6] [INFO] [1735908667.180571166] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-6] [INFO] [1735908667.180573348] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-6] [INFO] [1735908667.180577859] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-6] [INFO] [1735908667.180579712] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-6] [INFO] [1735908667.180581524] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-6] [INFO] [1735908667.180585695] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-6] [INFO] [1735908667.180587257] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-6] [INFO] [1735908667.180588530] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-6] [INFO] [1735908667.180589878] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-6] [INFO] [1735908667.180591052] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-6] [INFO] [1735908667.180592183] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-6] [INFO] [1735908667.190263334] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-6] [INFO] [1735908667.190342125] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-6] [INFO] [1735908667.190350862] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list
[move_group-6] [INFO] [1735908667.190554554] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-6] [INFO] [1735908667.190564045] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-6] [ERROR] [1735908667.190590248] [moveit_move_group_capabilities_base.move_group_context]: Failed to find default PlanningPipeline 'isaac_ros_cumotion' - please check MoveGroup's planning pipeline configuration.
[move_group-6] [INFO] [1735908667.195200841] [move_group.move_group]: 
[move_group-6] 
[move_group-6] ********************************************************
[move_group-6] * MoveGroup using: 
[move_group-6] *     - ApplyPlanningSceneService
[move_group-6] *     - ClearOctomapService
[move_group-6] *     - CartesianPathService
[move_group-6] *     - ExecuteTrajectoryAction
[move_group-6] *     - GetPlanningSceneService
[move_group-6] *     - KinematicsService
[move_group-6] *     - MoveAction
[move_group-6] *     - MotionPlanService
[move_group-6] *     - QueryPlannersService
[move_group-6] *     - StateValidationService
[move_group-6] ********************************************************
[move_group-6] 
[move_group-6] Stack trace (most recent call last):
[move_group-6] #5    Object "", at 0xffffffffffffffff, in 
[move_group-6] #4    Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x611293120724, in 
[move_group-6] #3    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x72b3e51f4e3f, in __libc_start_main
[move_group-6] #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x72b3e51f4d8f, in 
[move_group-6] #1    Object "/opt/ros/humble/lib/moveit_ros_move_group/move_group", at 0x61129311f547, in 
[move_group-6] #0    Object "/opt/ros/humble/lib/libmoveit_move_group_capabilities_base.so.2.5.6", at 0x72b3e5bb1bb5, in move_group::MoveGroupContext::status() const
[move_group-6] Segmentation fault (Address not mapped to object [0x68])
[ros2_control_node-1] [INFO] [1735908667.238431613] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-8] [INFO] [1735908667.340270552] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1735908667.341013529] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1735908667.341085155] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ERROR] [move_group-6]: process has died [pid 16560, exit code -11, cmd '/opt/ros/humble/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_3mu736a4'].

[Sensor7]

If you meet such issue:

[move_group-1] [ERROR] [1736787468.149232694] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'isaac_ros_cumotion_moveit/CumotionPlanner': Failed to load library /opt/ros/humble/lib/libisaac_ros_cumotion_moveit.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library dlopen error: **libmoveit_planning_interface.so.2.5.5**: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99Available plugins: chomp_interface/CHOMPPlanner, isaac_ros_cumotion_moveit/CumotionPlanner, ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner

Then it indicates that the library dependency libmoveit_planning_interface.so.2.5.5 is requiered by the plugin. You can use command find /opt/ros/humble/ -name libmoveit_planning_interface.so* and command ldd /opt/ros/humble/lib/libisaac_ros_cumotion_moveit.so to check if any are missing.

Once you found there are files with slightly different version, you can create a symlink to solve the Error (tested in following case)

sudo ln -s /opt/ros/humble/lib/libmoveit_planning_interface.so.2.5.6 /opt/ros/humble/lib/libmoveit_planning_interface.so.2.5.5
sudo ln -s /opt/ros/humble/lib/libmoveit_planning_scene.so.2.5.6 /opt/ros/humble/lib/libmoveit_planning_scene.so.2.5.5
sudo ln -s /opt/ros/humble/lib/libmoveit_robot_trajectory.so.2.5.6 /opt/ros/humble/lib/libmoveit_robot_trajectory.so.2.5.5
sudo ln -s /opt/ros/humble/lib/libmoveit_robot_state.so.2.5.6 /opt/ros/humble/lib/libmoveit_robot_state.so.2.5.5

For me it works ok

[pawelir]

@Sensor7 this makes sense and indeed is more convenient than rebuilding from source.
Thanks for your suggestion 👍🏼