Using rviz to visually drag the manipulator
(1)boot hardware (2)Boot rviz
problems encountered: ompl_Interface missing
Detailed description:

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[ERROR] [1635408934.795584707]: Exception while loading planner 'ompl_interface/OMPLPlanner': Failed to load library /opt/ros/kinetic/lib/libmoveit_ompl_planner_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libompl.so.12: cannot open shared object file: No such file or directory)
Available plugins: chomp_interface/CHOMPPlanner, ompl_interface/OMPLPlanner
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[ WARN] [1635408935.400459536]: MoveGroup running was unable to load ompl_interface/OMPLPlanner
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https://answers.ros.org/question/268649/ompl-moveit-error-in-kinetic/
This post uses reloading ROS to solve the problem. Personally, I think it can also use the this method below.

Solution:
According to the description of the problem, it means that our /opt/ros/kinetic/lib/ path is missing the libompl.so.12 file call, but it is mentioned in the reference webpage I read “The correct OMPL package for the binary builds distributed in ROS kinetic is ros-kinetic-ompl which installs the missing library as /opt/ros/kinetic/lib/x86_64-linux-gnu/libompl.so.12” so just Just copy the file in the path opt/ros/kinetic/lib/x86_64-linux-gnu/libompl.so.12 to the lib file.
Bash command:
cd /opt/ros/kinetic/lib/x86_64-linux-gnu
sudo cp libompl.so.12 ..