How to solve 'The kinematics plugin (arm) failed to load'?

I followed: http://rtt-lwr.readthedocs.io/en/latest/tutos/moveit-tuto.html I run: roslaunch lwr_moveit_config run.launch sim:=true My error: sam@sam-RT:~$ roslaunch lwr_moveit_config run.launch sim:=true ... logging to /home/sam/.ros/log/ae83bbb4-8292-11e7-a9fe-00e04c00f31b/roslaunch-sam-RT-3323.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://sam-RT:41353/ SUMMARY ======== PARAMETERS * /gazebo/robot_description: SpawnModel script started [INFO] [1502895239.392861, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1502895239.476711, 0.000000]: Loading model XML from ros parameter [INFO] [1502895239.479773, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1502895239.481209, 0.000000]: Calling service /gazebo/spawn_urdf_model [ INFO] [1502895239.579567493, 14.365000000]: Stereo is NOT SUPPORTED [ INFO] [1502895239.579661564, 14.365000000]: OpenGl version: 4.5 (GLSL 4.5). [INFO] [1502895239.627515, 14.365000]: Spawn status: SpawnModel: Successfully spawned model [spawn_lwr_sim-3] process has finished cleanly log file: /home/sam/.ros/log/ae83bbb4-8292-11e7-a9fe-00e04c00f31b/spawn_lwr_sim-3*.log [ WARN] [1502895243.327955570, 17.746000000]: The STL file 'package://lwr_description/meshes/handle/handle.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead. [ WARN] [1502895243.336998482, 17.755000000]: The STL file 'package://lwr_description/meshes/head_cam/head_cam.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead. [ INFO] [1502895243.450199742, 17.867000000]: Loading robot model 'lwr'... [ INFO] [1502895243.450240316, 17.867000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ WARN] [1502895243.457098966, 17.874000000]: Could not identify parent group for end-effector 'effector' [ERROR] [1502895243.494562834, 17.908000000]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin lwr_arm_kinematics/IKFastKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin [ERROR] [1502895243.494608168, 17.908000000]: Kinematics solver could not be instantiated for joint group arm. [ INFO] [1502895243.553218305, 17.968000000]: Starting scene monitor [ INFO] [1502895243.556054673, 17.971000000]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1502895243.556992412, 17.972000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... [ INFO] [1502895244.518850488, 18.933000000]: Waiting for joint_trajectory_controller/follow_joint_trajectory to come up [ INFO] [1502895248.580590359, 22.984000000]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.9/planning_scene_monitor/src/planning_scene_monitor.cpp:486 [ INFO] [1502895248.627771045, 23.032000000]: No active joints or end effectors found for group 'arm'. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace. [ INFO] [1502895248.630112829, 23.034000000]: Constructing new MoveGroup connection for group 'arm' in namespace '' [ INFO] [1502895249.530641901, 23.933000000]: Waiting for joint_trajectory_controller/follow_joint_trajectory to come up [ERROR] [1502895254.545444147, 28.933000000]: Action client not connected: joint_trajectory_controller/follow_joint_trajectory [ INFO] [1502895254.607825515, 28.996000000]: Returned 0 controllers in list [ INFO] [1502895254.617929135, 29.007000000]: Trajectory execution is not managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1502895254.755511974, 29.144000000]: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1502895254.755655931, 29.145000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1502895254.755678631, 29.145000000]: MoveGroup context initialization complete You can start planning now! [ WARN] [1502895255.518071495, 29.906000000]: Deprecation warning: Trajectory execution service is deprecated (was replaced by an action). Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch [ INFO] [1502895255.520419717, 29.908000000]: Ready to take commands for planning group arm. [ INFO] [1502895255.520470571, 29.908000000]: Looking around: no [ INFO] [1502895255.520490323, 29.908000000]: Replanning: no [WARN] [1502895269.519665, 43.882000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [controller_spawner-7] process has finished cleanly log file: /home/sam/.ros/log/ae83bbb4-8292-11e7-a9fe-00e04c00f31b/controller_spawner-7*.log How to solve it? Thank you~