roslaunch运行demo.launch文件错误问题

roslaunch运行demo.launch文件错误问题

在编译没有问题的情况下运行demo.launch文件，出现提示如下图。

The kinematics plugin (cute_arm) failed to load. Error: Failed to load library /opt/ros/kinetic/lib//libtrac_ik_kinematics_plugin.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 (Poco exception = libmoveit_kinematics_base.so.0.9.12: cannot open shared object file: No such file or directory)
[ERROR] [1530362224.460199466]: Kinematics solver could not be instantiated for joint group cute_arm.

解决方法：

安装trac_ik_lib功能包

sudo apt-get install ros-kinetic-trac-ik-kinematics-plugin

参考链接：
https://blog.csdn.net/puqian13/article/details/100672704