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JenniferBuehler / gazebo-pkgs

A collection of tools and plugins for Gazebo
BSD 3-Clause "New" or "Revised" License
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GazeboGraspGripper: Palm link ee_link not found. The gazebo grasp plugin will not work #54

Closed getupcurry closed 3 years ago

getupcurry commented 3 years ago

Hi JenniferBuehler,

Thanks for creating GazeboGrasp plugin. I'm trying to use it with UR10 arm and RobotIq 85 gripper. But, the object falls as before and I get the following error: Screenshot 2021-07-26 10:57:32

I am using ROS Melodic + gazebo 9. And the version of gazebo_grasp_plugin is master, because the Melodic version has some problems while running, the problem as follows:

gzserver: symbol lookup error: /home/ros/catkin_ws/devel/lib/libgazebo_grasp_fix.so: undefined symbol: _ZN6gazebo10GetPhysicsERKN5boost10shared_ptrINS_7physics5WorldEEE
Traceback (most recent call last)

Can you tell me whether the error in the picture is caused by the gazebo_grasp_plugin version? And how to solve it?

getupcurry commented 3 years ago

Here is how I set up the parameters:

UR5Arm gripper_finger1_inner_knuckle_link gripper_finger1_finger_tip_link gripper_finger2_inner_knuckle_link gripper_finger2_finger_tip_link 100 20 1 3 0.0198 false __default_topic__
JenniferBuehler commented 3 years ago

Hello, The master branch is correct, melodic is old. I should delete it ;) It seems to me that it is not finding your settings. Did you double check the inclusion in your urdf file?

getupcurry commented 3 years ago

Thank you very much. I have solved the problem.

JenniferBuehler commented 3 years ago

Ok, great. Will close this then :)