moveit: Path error when trying to follow Move Group Interface Tutorial.

Description

I have built MoveIt! from source and am trying to follow the Move Group Interface Tutorial. However, I am unable to successfully launch move_group_interface_tutorial.launch. I get some sort of path error or node error. Not sure, pretty new to ROS.

ERROR: cannot launch node of type [moveit_tutorials/move_group_interface_tutorial]: moveit_tutorials ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/opt/ros/kinetic/share

Your environment

• ROS Distro: Kinetic
• OS Version: Ubuntu 16.04
• Source kinetic-devel

Steps to reproduce

Step 1: Build MoveIt! from source: http://moveit.ros.org/install/source/

rosdep update
sudo apt-get update
sudo apt-get dist-upgrade

sudo apt-get install python-wstool python-catkin-tools clang-format-3.8

mkdir -p ~/ws_moveit/src
cd ~/ws_moveit/src

wstool init .
wstool merge https://raw.githubusercontent.com/ros-planning/moveit/kinetic-devel/moveit.rosinstall
wstool update
rosdep install -y --from-paths . --ignore-src --rosdistro kinetic
cd ..
catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build
source ~/ws_moveit/devel/setup.bash

1. Follow Move Group Interface Tutorial: http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html

cd ~/ws_moveit/src
git clone https://github.com/ros-planning/moveit_tutorials.git
git clone https://github.com/PR2/pr2_common.git -b kinetic-devel
git clone https://github.com/davetcoleman/pr2_moveit_config.git

Before installing the dependencies and rebuilding the workspace, I noticed there was a bug in ~/ws_moveit/src/moveit_tutorials/doc/pr2_tutorials/planning/src/move_group_interface_tutorial.cpp

I made changes based on a suggestion at the end of https://robotics.stackexchange.com/questions/14801/catkin-make-unable-to-build-and-throws-makefile138-recipe-for-target-all-fa

rosdep install --from-paths . --ignore-src --rosdistro kinetic
cd ~/ws_moveit
catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build
source ~/ws_moveit/devel/setup.bash

Before this change, I would get the following errors.

After editing the move_group_interface_tutorial.cpp file, I don’t get any errors, however, some of my packages are skipped/blacklisted. I’m sure this creates issues…

1. Start Rviz

cd ~/ws_moveit/src
roslaunch pr2_moveit_config demo.launch

1. Run demo, in separate terminal

roslaunch ~/ws_moveit/src/moveit_tutorials/doc/pr2_tutorials/planning/launch/move_group_interface_tutorial.launch

Expected behaviour

move_group_interface_tutorial.launch runs without errors.

Actual behaviour

After launching move_group_interface_tutorial.launch, this is the error that I get. Note that pr2_moveit_config demo.launch runs perfectly fine.

Demo output:

Rviz output: