MoveIt Rviz "No planning library loaded"

edit

Hello to all,

after finishing the "MoveIt! Setup Assistant" for my tx60l-robot I tried to start the rviz moveit plugin with following command:

roslaunch tx60l_moveit moveit_rviz.launch

Rviz starts, but there is no robot visible.

The "moveit_rviz.launch"-file generated by the "MoveIt! Setup Assistant":

<launch>

  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" output="screen">
    <rosparam command="load" file="$(find tx60l_moveit_config)/config/kinematics.yaml"/>
  </node>

</launch>

There is no reference on my .urdf-file I used for the MoveIt! Setup Assistant" ! -> no robot can be displayed

Though this instruction shows a different kind of .launch-file (using pr2-robot):

 <launch>
        <include file="$(find pr2_description)/robots/upload_pr2.launch"/>
        <node pkg="tf" type="static_transform_publisher" name="odom_broadcaster" args="0 0 0 0 0 0 odom_combined base_footprint 100" />
        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
         <param name="/use_gui" value="false"/>
        </node>
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
           <param name="/use_gui" value="false"/>
         </node>
        <include file="$(find pr2_moveit_config)/launch/moveit_rviz.launch"/>
    </launch>

My new launch file:

<launch>
    <include file="$(find tx60l_moveit)/launch/upload_tx60l.launch"/>
    <include file="$(find tx60l_moveit)/launch/moveit_rviz.launch"/>
</launch>

upload_tx60l.launch:

<launch>
    <param name="robot_description" command="cat $(find learning_urdf)/tx60l.xml" />
</launch>

Edit:

With my new launch-file Rviz starts finally. Obviously all nodes are loaded by the Moveit Assistant generated launch file (Though I cant detect them in there)

After starting Rviz I add "MotionPlanning" like described in this tutorial. Now my Robot is visible

But there is the hint: "no planning library loaded". Have I to start Rviz with an additional parameter which defines the used planning library?

Also I cant select any "Planning Group"!

How can I solve that? Or what information are relevant to help me?

Edit:

Now the OMPL is loaded, thx to Boris. But I dont get any interactive marker (is there a different way to set robot-poses?) for my robot-arm when I click on "Interact". When I load the pr2-demo it works. So the failure has to be hidden in my robot-config created with the "Setup Assistant". Is it because I didnt have defined an End-Effector?

Edit: Dave told me the problem is the end-effector. But I still cant solve it. I already tried all combinations. My robot is a simple arm of 6 links connected by 5 joints. I put all joints in one "arm-group" and the last link (link6) in another group called "end" but with no ki-solver, because its only one link. I think that's similar to this tutorial. Then I added an end-effector with the end-effector-group "end" and the parent link link 5. But there is still no interactive markers visible. What am I doing wrong?

Many Thanks in advance viovio