setFromIK / kinematic solver

Hey, I want to use the setFromIK-function of the robot_state class. There is a upcoming error: No kinematics solver instantiated for group 'arm_1'. I checked my srdf file, that it defines my group as a chain using: I uploaded my kinematics.yaml on the parameter server under the name kinematics_solver. This two steps are mentioned in https://groups.google.com/forum/#!topic/moveit-users/NpbzaXp97KE. I try to use the IK Plugin from Sven Schneider for the KUKA youbot. (https://github.com/svenschneider/youbot-manipulation) My question: Did someone know how I can fix it? Is there any default kinematics plugin which is installed with moveit, which I can use without installing a package? I read that KDL Kinematics Plugin is a default kinematics plugin which is provided by Orocos KDL package. But this package I have to install, right? Thanks for your time. Best regards, Jonas