Hi all,
For background, I'm trying to create two IKFast plugins for MoveIt! The problem I have is that MoveIt! only loads and uses one of the plugins. (I have confirmed this with print statements and have followed the trail all the way down to this [line (github source code)](https://github.com/ros-planning/moveit_ros/blob/indigo-devel/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp#L145) of the "kinematics_plugin_loader.cpp" file of MoveIt!
This is the line of code:
result.reset(kinematics_loader_->createUnmanagedInstance(it->second[i]));
It uses the `pluginlib::ClassLoader` of ROS.
To try and figure what is going on, I place some print statements around the code. I print out the library path and the argument name and everything looks OK (The names are different and the library paths are different). Yet when I call the method - named "testing" - of each library. They output the same message. What they should do is output different messages. So, it clearly executing the same library... But this is strange because I print out the library path and its different...
I have no idea what going on... Can anyone help?
Billy
The code looks like this :
ROS_INFO_STREAM("trying to load - "<second[i]);
result.reset(kinematics_loader_->createUnmanagedInstance(it->second[i]));
result->testing();
ROS_INFO_STREAM("printing path - "<getClassLibraryPath(it->second[i]));
ROS_INFO_STREAM("after - "<second[i]);
The output looks like this:
[ INFO] [1427495868.777012914]: rviz version 1.11.7
[ INFO] [1427495868.777129943]: compiled against OGRE version 1.8.1 (Byatis)
[ INFO] [1427495868.919105126]: Stereo is NOT SUPPORTED
[ INFO] [1427495868.919228039]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1427495869.578403687]: trying to load - thex3_l1_kinematics/IKFastKinematicsPlugin
[ INFO] [1427495869.629037635]: this is a test plugin 1
[ INFO] [1427495869.675017046]: printing path - /home/billy/moveit/devel/lib//libthex3_l1_moveit_ikfast_plugin.so
[ INFO] [1427495869.675101183]: after - thex3_l1_kinematics/IKFastKinematicsPlugin
[ INFO] [1427495869.681656644]: this is a test plugin 1
[ INFO] [1427495869.681832825]: trying to load - thex3_r2_kinematics/IKFastKinematicsPlugin
[ INFO] [1427495869.681905655]: this is a test plugin 1
[ INFO] [1427495869.730896859]: printing path - /home/billy/moveit/devel/lib//libthex3_r2_moveit_ikfast_plugin.so
[ INFO] [1427495869.730995835]: after - thex3_r2_kinematics/IKFastKinematicsPlugin
[ INFO] [1427495869.737139491]: this is a test plugin 1
[ INFO] [1427495871.880978103]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1427495871.891378640]: MoveGroup debug mode is ON
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