Error running bringup cmd for simulated robot

[waiyc]

Hello,

I am having issue by running the command in the readme.

ros2 launch kortex_bringup gen3.launch.py robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true

This is this the error shown on my terminal. The error related to the fake_sensor_commands in robotiq_2f_85 urdf xacro

ros2 launch kortex_bringup gen3.launch.py robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true
[INFO] [launch]: All log files can be found below /home/waiyc/.ros/log/2024-08-16-16-36-17-411463-waiyc-84325
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: /opt/ros/humble/bin/xacro /home/waiyc/Workspace/ros2_kortex_ws/install/kortex_description/share/kortex_description/robots/gen3.xacro robot_ip:=yyy.yyy.yyy.yyy name:=arm arm:=gen3 dof:=7 prefix:="" use_fake_hardware:=true fake_sensor_commands:=false gripper:=robotiq_2f_85 use_internal_bus_gripper_comm:=false gripper_max_velocity:=100.0 gripper_max_force:=100.0 gripper_joint_name:=robotiq_85_left_knuckle_joint 
Captured stderr output: error: Invalid parameter "fake_sensor_commands"
when instantiating macro: robotiq_gripper (/home/waiyc/Workspace/ros2_kortex_ws/install/robotiq_description/share/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro)
instantiated from: load_gripper (/home/waiyc/Workspace/ros2_kortex_ws/install/kortex_description/share/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro)
instantiated from: load_robot (/home/waiyc/Workspace/ros2_kortex_ws/install/kortex_description/share/kortex_description/robots/kortex_robot.xacro)
in file: /home/waiyc/Workspace/ros2_kortex_ws/install/kortex_description/share/kortex_description/robots/gen3.xacro

[waiyc]

Issue solved

Replace fake_sensor_commands to mock_sensor_commands in

• kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
• kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro