Couldn't load kinematics.yaml when using hybrid_planning_demo_node.cpp

[sm3304love]

Description

Overview of your issue here.

Your environment

• ROS Distro: Iron
• OS Version: Ubuntu 22.04
• Source build
• If source, which branch? : iron

Steps to reproduce

Modify hybrid_planning_demo_node.cpp in moveit_hybrid_planning pkg to use Cartesian goal instead of joint goal

    moveit::core::robotStateToRobotStateMsg(*robot_state, goal_motion_request.start_state);
    goal_motion_request.group_name = planning_group;
    goal_motion_request.num_planning_attempts = 100;
    goal_motion_request.max_velocity_scaling_factor = 0.1;
    goal_motion_request.max_acceleration_scaling_factor = 0.1;
    goal_motion_request.allowed_planning_time = 60;
    goal_motion_request.planner_id = "ompl";
    goal_motion_request.pipeline_id = "ompl";

    geometry_msgs::msg::PoseStamped desired_pose_stamped;
    desired_pose_stamped.header.frame_id = "world";
    desired_pose_stamped.pose.position.x = 0.3;
    desired_pose_stamped.pose.position.y = 0.0;
    desired_pose_stamped.pose.position.z = 0.59;
    desired_pose_stamped.pose.orientation.x = 1.0;
    desired_pose_stamped.pose.orientation.y = 0.0;
    desired_pose_stamped.pose.orientation.z = 0.0;
    desired_pose_stamped.pose.orientation.w = 0.0;

    moveit::core::RobotState goal_state(robot_model);

    // std::vector<double> joint_values = { 0.0, 0.0, 0.0, 0.0, 0.0, 1.571, 0.785 };
    // goal_state.setJointGroupPositions(joint_model_group, joint_values);

    bool success = goal_state.setFromIK(joint_model_group, desired_pose_stamped.pose);
    if (!success)
    {
      RCLCPP_ERROR(LOGGER, "Failed to set goal state from IK");
      return;
    }

    goal_motion_request.goal_constraints.resize(1);
    goal_motion_request.goal_constraints[0] =
        kinematic_constraints::constructGoalConstraints(goal_state, joint_model_group);

Expected behaviour

Get IK solution successfully

Actual behaviour

Failed to set goal state from IK

Backtrace or Console output

[hybrid_planning_demo_node-8] [WARN] [1723451010.734031350] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[hybrid_planning_demo_node-8] [ERROR] [1723451010.734083191] [moveit_robot_state.robot_state]: No kinematics solver instantiated for group 'panda_arm'
[hybrid_planning_demo_node-8] [ERROR] [1723451010.734105439] [test_hybrid_planning_client]: Failed to set goal state from IK

[github-actions]

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