Using object_manipulator on a non-PR2 robot

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I'm trying to use the object_manipulator node on a non-PR2 robot, but it crashes when loading the PR2ArmKinematicsPlugin, which is unsurprising because I don't have a PR2 arm. This changeset suggests that one can exchange the PR2ArmKinematicsPlugin for a generic one, but I can't figure out how exactly. There doesn't seem to be a parameter to specify a different IK plugin.

It would be great if I could either

• completely disable using the IK inside object_manipulator,
• or even better, configure object_manipulator to use the arm_kinematics_constraint_aware plugin

At the moment, both options don't work because object_manipulator crashes on startup. Any hints?

Update:

Here's the complete backtrace. Summary: object_manipulator loads the PR2ArmKinematicsPlugin, which crashes because it expects a PR2 URDF and finds a Katana URDF. My URDF is fine, but I don't have some things like soft joint limits that the PR2 plugin expects to find.

gdb --args /home/martin/ros-fuerte/object_manipulator/bin/object_manipulator_node /GraspPlanning:=/openrave_grasp_planner arm/constraint_aware_ik:=/kurtana_arm_kinematics/get_constraint_aware_ik arm/get_fk:=/kurtana_arm_kinematics/get_fk arm/get_ik_solver_info:=/kurtana_arm_kinematics/get_ik_solver_info arm/interpolated_ik:=/interpolated_ik_motion_plan arm/interpolated_ik_set_params:=/interpolated_ik_motion_plan_set_params arm/get_state_validity:=/environment_server/get_state_validity arm/move_arm:=/move_arm arm/joint_trajectory:=/katana_arm_controller/joint_trajectory_action arm/hand_posture_execution:=/gripper_grasp_posture_controller arm/grasp_status:=/gripper_grasp_status __name:=object_manipulator

object_manipulator_node: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* boost::shared_ptr<T>::operator->() const [with T = urdf::Joint]: Assertion `px != 0' failed.

Program received signal SIGABRT, Aborted.
0x00007ffff5e853a5 in __GI_raise (sig=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:64
64  ../nptl/sysdeps/unix/sysv/linux/raise.c: Datei oder Verzeichnis nicht gefunden.
    in ../nptl/sysdeps/unix/sysv/linux/raise.c
(gdb) bt
#0  0x00007ffff5e853a5 in __GI_raise (sig=6) at ../nptl/sysdeps/unix/sysv/linux/raise.c:64
#1  0x00007ffff5e88b0b in __GI_abort () at abort.c:92
#2  0x00007ffff5e7dd4d in __GI___assert_fail (assertion=0x7fffe431bc6b "px != 0", file=<optimized out>, line=418, function=<optimized out>) at assert.c:81
#3  0x00007fffe42fb92f in operator-> (this=<optimized out>) at /usr/include/boost/smart_ptr/shared_ptr.hpp:418
#4  operator-> (this=<optimized out>) at /tmp/buildd/ros-fuerte-pr2-kinematics-0.4.4/debian/ros-fuerte-pr2-kinematics/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_ik.cpp:52
#5  pr2_arm_kinematics::PR2ArmIK::init (this=<optimized out>, robot_model=..., root_name="katana_base_link", tip_name="katana_motor5_wrist_roll_link")
    at /tmp/buildd/ros-fuerte-pr2-kinematics-0.4.4/debian/ros-fuerte-pr2-kinematics/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_ik.cpp:62
#6  0x00007fffe4303c2c in pr2_arm_kinematics::PR2ArmIKSolver::PR2ArmIKSolver (this=<optimized out>, robot_model=..., root_frame_name="katana_base_link", tip_frame_name="katana_motor5_wrist_roll_link", 
    search_discretization_angle=<optimized out>, free_angle=@0x7fffe01d4d6c)
    at /tmp/buildd/ros-fuerte-pr2-kinematics-0.4.4/debian/ros-fuerte-pr2-kinematics/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_ik_solver.cpp:47
#7  0x00007fffe4316c6a in pr2_arm_kinematics::PR2ArmKinematicsPlugin::initialize (this=0x7fffe01d4d40, group_name="arm", base_name=<optimized out>, tip_name=<optimized out>, 
    search_discretization=<optimized out>)
    at /tmp/buildd/ros-fuerte-pr2-kinematics-0.4.4/debian/ros-fuerte-pr2-kinematics/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_kinematics_plugin.cpp:89
#8  0x00007ffff0cfa224 in arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::ArmKinematicsSolverConstraintAware (this=0x7fffe01ce870, solver=<optimized out>, cm=0x7ffff69cf7c0, group_name=
    "arm") at /tmp/buildd/ros-fuerte-arm-navigation-1.1.11/debian/ros-fuerte-arm-navigation/opt/ros/fuerte/stacks/arm_navigation/arm_kinematics_constraint_aware/src/arm_kinematics_solver_constraint_aware.cpp:71
#9  0x00007ffff3b65e02 in object_manipulator::GraspTesterFast::GraspTesterFast (this=0x7fffe00082a0, cm=<optimized out>, plugin_name="pr2_arm_kinematics/PR2ArmKinematicsPlugin")
    at /home/martin/ros-fuerte/object_manipulator/src ...