Load plugin for IKFast class using C++

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Hello there,

I am trying to load the IKFast MoveIt! plugin I already created through a C++ file using pluginlib. I am trying to do so in order to get access to the IKFast functions outside of MoveIt!.

When following the tutorial, I get this error when trying to compile using catkin_make:

Linking CXX executable /home/josh/catkin_ws/devel/lib/ikfast_lf_plugin_load_test/IKFast_leg_LF_loader

CMakeFiles/IKFast_leg_LF_loader.dir/src/IKFast_leg_LF_loader.cpp.o: In function `std::map<std::string, class_loader::class_loader_private::AbstractMetaObjectBase*, std::less<std::string>, std::allocator<std::pair<std::string const, class_loader::class_loader_private::AbstractMetaObjectBase*>
> >& class_loader::class_loader_private::getFactoryMapForBaseClass<kinematics::KinematicsBase>()':

IKFast_leg_LF_loader.cpp:(.text._ZN12class_loader20class_loader_private25getFactoryMapForBaseClassIN10kinematics14KinematicsBaseEEERSt3mapISsPNS0_22AbstractMetaObjectBaseESt4lessISsESaISt4pairIKSsS6_EEEv[_ZN12class_loader20class_loader_private25getFactoryMapForBaseClassIN10kinematics14KinematicsBaseEEERSt3mapISsPNS0_22AbstractMetaObjectBaseESt4lessISsESaISt4pairIKSsS6_EEEv]+0x16): undefined reference to `typeinfo for kinematics::KinematicsBase'

CMakeFiles/IKFast_leg_LF_loader.dir/src/IKFast_leg_LF_loader.cpp.o:(.rodata._ZTIPN10kinematics14KinematicsBaseE[_ZTIPN10kinematics14KinematicsBaseE]+0x18): undefined reference to `typeinfo for kinematics::KinematicsBase'

collect2: error: ld returned 1 exit status

make[2]: *** [/home/josh/catkin_ws/devel/lib/ikfast_lf_plugin_load_test/IKFast_leg_LF_loader] Error 1

make[1]: *** [ikfast_lf_plugin_load_test/CMakeFiles/IKFast_leg_LF_loader.dir/all] Error 2

make: *** [all] Error 2

Invoking "make -j2 -l2" failed

Here is my code I am using:

#include <pluginlib/class_loader.h>
#include "/opt/ros/jade/include/moveit/kinematics_base/kinematics_base.h"

int main(int argc, char** argv)
{
  // Create a classloader that is used to load the plugin
  pluginlib::ClassLoader<kinematics::KinematicsBase> poly_loader("moveit_core", "kinematics::KinematicsBase");

  try
  {
    boost::shared_ptr<kinematics::KinematicsBase> IKFast_LF = poly_loader.createInstance("ikfast_kinematics_plugin::IKFastKinematicsPluginLF");
    ROS_INFO("The plugin was loaded.");
  }
  catch(pluginlib::PluginlibException& ex)
  {
    ROS_ERROR("The plugin failed to load for some reason. Error: %s", ex.what());
  }

  return 0;
}

I have also copied the functions from the auto-generated ikfast_moveit_plugin.cpp into a header file, that would take the place of polygon_plugins.h in the tutorial. Also from the tutorial, polygon_base.his replaced with kinematics_base.h from /opt/ros/jade/include/moveit/kinematics_base/kinematics_base.h.

Has anyone else come across this problem when trying to load a plugin?

Any help would be appreciated.

Link to catkin package