Ive been following every tutorial out there to try and manipulate the PR2 Robot at Gazebo with Moveit, but Im still not able to do it!

Right now Im using Ubuntu 12.04.2 LTS ( Precise Pangolin) with debian packages (although Ive tried building from source aswell) and installation went just fine.

Gazebo, ROS and Moveit are working separetly, but when combined I get the following erros:

At RViz:

At Gazebo:

Error [Plugin.hh:127] Failed to load plugin libgazeboroscontrollermanager.so: libgazeboroscontrollermanager.so: cannot open shared object file: No such file or directory

Error [Plugin.hh:127] Failed to load plugin libgazeborospowermonitor.so: libgazeborospowermonitor.so: cannot open shared object file: No such file or directory

I have no idea why the plugin fails to load. The gazeborospkgs and ros-hydro-gazebo-ros-control installed should be installed.

Those were the tutorials that I followed:

1 - Installing ROS: http://wiki.ros.org/hydro/Installation/Ubuntu

2 - Installing MoveIt: http://moveit.ros.org/install/

3 - Setting PR2 at MoveIt: http://moveit.ros.org/wiki/PR2/SetupAssistant/QuickStart

4 - Testing PR2 at Rviz: http://moveit.ros.org/wiki/PR2/RvizPlugin/QuickStart

5 - Installing Gazebo 1.9: http://gazebosim.org/wiki/1.9/install

6 - Installing GazeboRosPackages: http://gazebosim.org/wiki/Tutorials/1.9/Installinggazeboros_Packages

7 - Spawning PR2 at Gazebo: http://gazebosim.org/wiki/Tutorials/1.9/UsingroslaunchFilestoSpawn_Models

8 - Controlling PR2 at Gazebo with Moveit: http://moveit.ros.org/wiki/PR2/Gazebo/QuickStart (which states: Note: This tutorial refers to a previous version of Gazebo that is no longer fully supported. In the future this tutorial needs to be updated to use the new gazeboros_pkgs interface.)

I also tried this tutorial: http://gazebosim.org/wiki/Tutorials/1.9/ROSControlwith_Gazebo

But since Im new to Linux and ROS, I didnt understand all of it so Im not sure if the changes made are correct.

For example: In the topic "Add the gazeboroscontrol plugin", it tells me to change my URDF file. Since I only had a xacro.urdf file, I had to convert it to URDF and add the new line.

This is the command used to run GazeboRos with the new URDF file: rosrun gazeboros spawnmodel -file rospack find pr2_description/urdf/pr2.urdf -urdf -z 2 -model pr2 (the URDF path is /opt/ros/hydro/share/pr2description/urdf)

This is the resulting URDF already changed (changes are at lines 20-22): https://www.dropbox.com/s/rv5kmm7ljcersva/pr2.urdf

This is the pr2control created from the last tutorial: https://www.dropbox.com/s/l46dad75k0pf9zh/pr2control.zip

Is it correct? Did I miss something?

When running it with: export ROSPACKAGEPATH=$PWD:$ROSPACKAGEPATH and roslaunch pr2control pr2control.launch, I get the following Warning Messages:

[WARN] [WallTime: 1390915840.157526] [221.847000] Controller Spawner couldn't find the expected ... (more)