Initialization change in ROS Melodic

[Former user]

When loading MoveIt with the trac-ik plugin in ROS Melodic, a warning pops up in the terminal that the IK plugin for group '<group_name>' relies on deprecated API. Please implement initialize(RobotModel, ...).

According to MoveIt's migration notes, the way a plugin receives a robot model has changed...

KinematicsBase: Deprecated initialize(robot_description, ...) in favour of initialize(robot_model, ...). Adapt your kinematics plugin to directly receive a RobotModel. See the KDL plugin for an example.

Is there a plan to update the trac_ik_kinematics_plugin with this change?

[Michal Kramarczyk]

Hi, is anything being done about this?

[Marc R]

It would really be great if the plugin could be migrated to the new interface.

[Robbert Hofman]

For me too, it’s not working on Ubuntu 20.04 + ROS Noetic

I believe we’re talking about this function:

https://bitbucket.org/traclabs/trac_ik/src/9d22477e70d64df75720ec99066cb03ee813ec3d/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp#lines-45

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