Closed Miya-imslab closed 2 years ago
felixmaisonneuve
commented
2 years ago Hi @sleepysummer,
Can you give the exact command you are using? The first line you get is a warning that says "Shutdown request received.". This is not something I would expect. Are you running other ros nodes in the background?
Are you using a prefix? Did you change any .yaml or .lauch file?
Regards, Felix
Miya-imslab
commented
2 years ago 使用しているコマンドは、 "roscore" "roslaunch kortex_gazebo spawn_kortex_robot.launch" "roslaunch uvc_camera camera_node.launch" "roslaunch kortex_examples kortex_driver.launch" の４つです。
プレフィックスは使用していません。また、.launchファイルのgripperの名前をrobotiq_2f_85に変更しました。
felixmaisonneuve
commented
2 years ago You are launching a gazebo simulation of the arm (roslaunch kortex_gazebo spawn_kortex_robot.launch) before launching your driver (roslaunch kortex_driver kortex_driver.launch). It might be problematic since they are both using the same namespace (if I remember correctly).
Could you try to try to launch your arm's driver without launching gazebo first?
Miya-imslab
commented
2 years ago ありがとうございます。ただ、"roslaunch kortex_driver kortex_driver.launch"を単独で起動しましたが、以下のエラーが出ました。 何か解決策はありますか？
NODES
/my_gen3/
joint_state_publisher (joint_state_publisher/joint_state_publisher)
move_group (moveit_ros_move_group/move_group)
my_gen3_driver (kortex_driver/kortex_arm_driver)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
process[my_gen3/my_gen3_driver-1]: started with pid [16048]
process[my_gen3/move_group-2]: started with pid [16049]
process[my_gen3/joint_state_publisher-3]: started with pid [16050]
process[my_gen3/robot_state_publisher-4]: started with pid [16051]
process[my_gen3/rviz-5]: started with pid [16052]
[ WARN] [1659653253.150315489]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1659653253.174526615]: Loading robot model 'gen3_robotiq_2f_85'...
[ INFO] [1659653253.175545153]: No root/virtual joint specified in SRDF. Assuming fixed joint
qt5ct: using qt5ct plugin
[ WARN] [1659653253.301944407]: Could not identify parent group for end-effector 'gripper'
[ WARN] [1659653253.348781070]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
qt5ct: D-Bus global menu: no
[ INFO] [1659653253.412819051]: Session created successfully for TCP services
[ INFO] [1659653253.421673957]: Session created successfully for UDP services
[ERROR] [1659653253.431647995]: The gripper model specified in the launch file doesn't match the detected arm's gripper model, shutting down the node...
terminate called after throwing an instance of 'std::runtime_error*'
[my_gen3/my_gen3_driver-1] process has died [pid 16048, exit code -6, cmd /home/srt/catkin_ws/devel/lib/kortex_driver/kortex_arm_driver __name:=my_gen3_driver __log:=/home/srt/.ros/log/544e9f96-1442-11ed-8681-347df6113820/my_gen3-my_gen3_driver-1.log].
log file: /home/srt/.ros/log/544e9f96-1442-11ed-8681-347df6113820/my_gen3-my_gen3_driver-1*.logYou get this error because you have specified the "robotiq_2f_85" gripper in your launch file, but it is not present or not configured on your arm. To configure it, go to the Web App of the arm, "Configurations"->"Robot"->"Product"->"End Effector Type" and select "robotiq_2f_85"
Miya-imslab
commented
2 years ago その方法を試したらエラーを出さなくなり、グリッパーの動作が確認できました。丁寧に教えていただきありがとうございした。
felixmaisonneuve
commented
2 years ago Great!
I will close this issue then.
Best regards, Felix
Description
hello. When I try to launch kortex_driver.launch, I get an error message "Joint 'finger_joint' not found in model 'gen3'". I would appreciate it if you could tell me if there is any solution. Below is the error message