abb launch warning

[yijiangh]

SEVERE WARNING!!! A namespace collision has occured with plugin factory for class ikfast_kinematics_plugin::IKFastKinematicsPlugin. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.

[yijiangh]

It seems that moveit and descartes can't load ikfast at the same time, change the kinematic.xml config file back to KDLKinematicsPlugin will fix this. Take this as an example.