How to solve 'The kinematics plugin (arm) failed to load'?

edit

I followed: http://rtt-lwr.readthedocs.io/en/late...

I run:

roslaunch lwr_moveit_config run.launch sim:=true

My error:

sam@sam-RT:~$ roslaunch lwr_moveit_config run.launch sim:=true
... logging to /home/sam/.ros/log/ae83bbb4-8292-11e7-a9fe-00e04c00f31b/roslaunch-sam-RT-3323.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://sam-RT:41353/

SUMMARY
========

PARAMETERS
 * /gazebo/robot_description: <?xml version="1....
 * /is_sim: True
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /joint_trajectory_controller/action_monitor_rate: 20
 * /joint_trajectory_controller/constraints/goal_time: 0.0
 * /joint_trajectory_controller/constraints/joint_0/goal: 0.0
 * /joint_trajectory_controller/constraints/joint_0/trajectory: 0.0
 * /joint_trajectory_controller/constraints/joint_1/goal: 0.0
 * /joint_trajectory_controller/constraints/joint_1/trajectory: 0.0
 * /joint_trajectory_controller/constraints/joint_2/goal: 0.0
 * /joint_trajectory_controller/constraints/joint_2/trajectory: 0.0
 * /joint_trajectory_controller/constraints/joint_3/goal: 0.0
 * /joint_trajectory_controller/constraints/joint_3/trajectory: 0.0
 * /joint_trajectory_controller/constraints/joint_4/goal: 0.0
 * /joint_trajectory_controller/constraints/joint_4/trajectory: 0.0
 * /joint_trajectory_controller/constraints/joint_5/goal: 0.0
 * /joint_trajectory_controller/constraints/joint_5/trajectory: 0.0
 * /joint_trajectory_controller/constraints/joint_6/goal: 0.0
 * /joint_trajectory_controller/constraints/joint_6/trajectory: 0.0
 * /joint_trajectory_controller/constraints/stopped_velocity_tolerance: 0.0
 * /joint_trajectory_controller/gains/joint_0/d: 15
 * /joint_trajectory_controller/gains/joint_0/i: 10
 * /joint_trajectory_controller/gains/joint_0/i_clamp: 1
 * /joint_trajectory_controller/gains/joint_0/p: 450
 * /joint_trajectory_controller/gains/joint_1/d: 15
 * /joint_trajectory_controller/gains/joint_1/i: 10
 * /joint_trajectory_controller/gains/joint_1/i_clamp: 1
 * /joint_trajectory_controller/gains/joint_1/p: 450
 * /joint_trajectory_controller/gains/joint_2/d: 15
 * /joint_trajectory_controller/gains/joint_2/i: 8
 * /joint_trajectory_controller/gains/joint_2/i_clamp: 1
 * /joint_trajectory_controller/gains/joint_2/p: 350
 * /joint_trajectory_controller/gains/joint_3/d: 2
 * /joint_trajectory_controller/gains/joint_3/i: 5
 * /joint_trajectory_controller/gains/joint_3/i_clamp: 1
 * /joint_trajectory_controller/gains/joint_3/p: 200
 * /joint_trajectory_controller/gains/joint_4/d: 0.01
 * /joint_trajectory_controller/gains/joint_4/i: 5
 * /joint_trajectory_controller/gains/joint_4/i_clamp: 1
 * /joint_trajectory_controller/gains/joint_4/p: 150
 * /joint_trajectory_controller/gains/joint_5/d: 5.0
 * /joint_trajectory_controller/gains/joint_5/i: 0.1
 * /joint_trajectory_controller/gains/joint_5/i_clamp: 1
 * /joint_trajectory_controller/gains/joint_5/p: 50
 * /joint_trajectory_controller/gains/joint_6/d: 1.1
 * /joint_trajectory_controller/gains/joint_6/i: 0.01
 * /joint_trajectory_controller/gains/joint_6/i_clamp: 0.5
 * /joint_trajectory_controller/gains/joint_6/p: 20
 * /joint_trajectory_controller/joints: ['joint_0', 'join...
 * /joint_trajectory_controller/state_publish_rate: 50
 * /joint_trajectory_controller/stop_trajectory_duration: 0.0
 * /joint_trajectory_controller/type: effort_controller...
 * /lwr_sim/joint_limits: ['joint_0', 'join...
 * /lwr_sim/kcd_default: [0.7, 0.7, 0.7, 0...
 * /lwr_sim/kcp_default: [1000.0, 1000.0, ...
 * /lwr_sim/kd_default: [1.0, 1.0, 1.0, 0...
 * /lwr_sim/kp_default: [450.0, 450.0, 20...
 * /lwr_sim/lower_joint_limits: [-100.0, -100.0, ...
 * /lwr_sim/upper_joint_limits: [100.0, 100.0, 10...
 * /move_group/allow_trajectory_execution: True
 * /move_group/allowed_execution_duration_scaling: 1.2
 * /move_group/allowed_goal_duration_margin: 0.5
 * /move_group/arm/longest_valid_segment_fraction: 0.005
 * /move_group/arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/arm/projection_evaluator: joints(joint_0,jo...
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_name: controller_manager
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: False
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor ...