[ros-users] motion planning tutorial

[nitinDhiman]

Hello friends,
I have ROS Cturtle installed on Debian Squeeze release. Ros-Pkg revision is
40515. I am trying to use laser sensor output for mapping and obstacle
avoidance.
I am studying a tutorial titled " Checking collisions for a given robot
state" which is available at  webpage
http://www.ros.org/wiki/motion_planning_environment/Tutorials/Tutorial%20A .
The launch file pr2_floorobj_world.launch is not present in this revision
because of which I am not able to run sample code. With available launch
file I am getting following outpus:

nitin at tangri:~/MS/downloads/robotics/ros/ros-pkg/pr2_arm_navigation/pr2_arm_navigation_tutorials$
roslaunch pr2_arm_navigation_tutorials trajectory_filter.launch 
... logging to
/home/nitin/.ros/log/8e0babf2-8ade-11df-941d-00248119e15c/roslaunch-tangri-30619.log

started roslaunch server http://tangri:60987/

SUMMARY
========

PARAMETERS
 * /trajectory_filter/joint_limits/r_shoulder_pan_joint/max_acceleration
 * /trajectory_filter/filter_chain
 * /trajectory_filter/joint_limits/r_shoulder_lift_joint/has_position_limits
 *
/trajectory_filter/joint_limits/r_shoulder_lift_joint/has_acceleration_limits
 * /trajectory_filter/joint_limits/r_shoulder_pan_joint/max_velocity
 * /trajectory_filter/joint_limits/r_shoulder_pan_joint/min_position
 * /trajectory_filter/joint_limits/r_shoulder_lift_joint/max_position
 * /trajectory_filter/joint_limits/r_shoulder_pan_joint/has_position_limits
 * /trajectory_filter/joint_limits/r_shoulder_lift_joint/has_velocity_limits
 * /trajectory_filter/joint_limits/r_shoulder_pan_joint/has_velocity_limits
 * /trajectory_filter/joint_limits/r_shoulder_lift_joint/min_position
 * /trajectory_filter/joint_limits/r_shoulder_pan_joint/max_position
 *
/trajectory_filter/joint_limits/r_shoulder_pan_joint/has_acceleration_limits
 * /trajectory_filter/service_type
 * /trajectory_filter/joint_limits/r_shoulder_lift_joint/max_acceleration
 * /trajectory_filter/joint_limits/r_shoulder_lift_joint/max_velocity

NODES
  /
    trajectory_filter (trajectory_filter_server/trajectory_filter_server)

starting new master (master configured for auto start)
process[master]: started with pid [30632]
ROS_MASTER_URI=http://tangri:11311/

setting /run_id to 8e0babf2-8ade-11df-941d-00248119e15c
process[rosout-1]: started with pid [30643]
started core service [/rosout]
process[trajectory_filter-2]: started with pid [30646]
terminate called after throwing an instance of
'pluginlib::LibraryLoadException'
  what():  According to the loaded plugin descriptions the class
NumericalDifferentiationSplineSmootherFilterJointTrajectoryRequest with base
class type
filters::FilterBase<motion_planning_msgs::FilterJointTrajectory::Request>
does not exist. Declared types are 
ClampedCubicSplineSmootherFilterJointTrajectory
CubicSplineVelocityScalerFilterJointTrajectory
FritschButlandSplineSmootherFilterJointTrajectory
LinearSplineVelocityScalerFilterJointTrajectory
NormalizeFilterJointTrajectory
NumericalDifferentiationSplineSmootherFilterJointTrajectory
UnNormalizeFilterJointTrajectory
[trajectory_filter-2] process has died [pid 30646, exit code -6].
log files:
/home/nitin/.ros/log/8e0babf2-8ade-11df-941d-00248119e15c/trajectory_filter-2*.log
^C[rosout-1] killing on exit
[master] killing on exit
exiting...
shutting down processing monitor...
... shutting down processing monitor complete
done
 

I have no idea on how to proceed on it. Which way I can resolve it?
thanks
nitin

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