Maxim Likhachev (CMU), Ben Cohen (Penn) and Mike Phillips (CMU) for developing SBPL, a search-based planning library integrated with MoveIt Armin Hornung, Kai Wurm, Maren Bennewitz, Cyril Stachniss, and Wolfram Burgard for developing Octomap - software for 3D occupancy mapping used by MoveIt. ROS2 MoveIt - No Planning Library Loaded. ROS. nejo1017 October 7, 2021, 1:40pm #1. Hello, I try to control my UR10e with ROS2 foxy and MoveIt2 on Ubuntu 20.04. I installed the Universal_Robots_ROS2_Driver and followed the Instructions to get it up on MoveIt (first without real hardware). I did these commands: (as described on github).