Maybe I'm just misunderstanding something, but the [STOMP Planner tutorial](https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html) seems to me a bit outdated. It links to [this industrial_moveit package](https://github.com/ros-industrial/industrial_moveit), saying we only need the `stomp_core` package from there, but the README of the repository says all the stomp packages has been removed. The industrial_moveit repository links to a [stomp_ros repository](https://github.com/ros-industrial/stomp_ros), instead.
So it seems to me I only need the `stomp_ros` package. When I use `git copy` in my `catkin_ws/src` folder to get the package, and then run `catkin_make`, it falls on this error
-- Could not find the required component 'trac_ik_lib'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "trac_ik_lib" with
any of the following names:
trac_ik_libConfig.cmake
trac_ik_lib-config.cmake
Add the installation prefix of "trac_ik_lib" to CMAKE_PREFIX_PATH or set
"trac_ik_lib_DIR" to a directory containing one of the above files. If
"trac_ik_lib" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
stomp_ros/stomp_moveit/CMakeLists.txt:3 (find_package)
when I try to install the library using command
sudo apt-get install ros-kinetic-trac-ik-lib
I get following output
Reading package lists... Done
Building dependency tree
Reading state information... Done
You might want to run 'apt-get -f install' to correct these:
The following packages have unmet dependencies:
ros-kinetic-ifopt-ipopt : Depends: ros-kinetic-ifopt-core but it is not going to be installed
ros-kinetic-ifopt-snopt : Depends: ros-kinetic-ifopt-core but it is not going to be installed
ros-kinetic-trac-ik-lib : Depends: libnlopt0 (>= 2.2.4) but it is not going to be installed
Depends: libnlopt-dev but it is not going to be installed
E: Unmet dependencies. Try 'apt-get -f install' with no packages (or specify a solution).
I tried the `apt-get -f install` command, it didn't help.
When I install the package using cmake and carry out the rest of the tutorial (creating and modifying all the files), when I try to plan using the moveit_commander interface, I gen an error
[ERROR] [1556896061.009857255, 219.528000000]: No planning plugin loaded. Cannot plan.
Therefor I think the moveit does not have an access to the STOMP planner.
Can you instruct me how to get it work?
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