Closed goekce closed 2 weeks ago
Probably related to https://github.com/ros-controls/gazebo_ros2_control/issues/173
(Update: see my next comment below)gripper_right_joint
=> gripper_right_joint_mimic
gets rid of the errors. I can create a PR if a maintainer acknowledges that this is the right fix.
Regarding the teleop issue: The described behavior still exists after the fix. Probably another issue.
My workaround led to a static right grip in Gazebo, so I added a dummy joint like shown in https://github.com/ros-controls/gazebo_ros2_control/issues/173:
<joint name="${prefix}gripper_right_joint_mimic" type="fixed">
<parent link="${prefix}link5" />
<child link="dummy_mimic_fix" />
</joint>
<link name="dummy_mimic_fix"/>
Also related: https://github.com/ros-controls/gz_ros2_control/issues/96. Probably better to wait for the resolution of this issue.
The source of the error is explained here in detail: https://robotics.stackexchange.com/questions/25107/ros2-moveit-cant-find-mimic-joint
Thank @goekce so much for the solution. For anyone need help with this issue
To edit turtlebot3_manipulation/turtlebot3_manipulation_description/urdf/open_manipulator_x.urdf.xacro
<joint name="${prefix}gripper_right_joint" type="prismatic">
...
</joint>
<joint name="${prefix}gripper_right_joint_mimic" type="fixed">
<parent link="${prefix}link5" />
<child link="dummy_mimic_fix" />
</joint>
<link name="dummy_mimic_fix"/>
I am also facing the same issue.
https://github.com/ArpanROS/ros2.git
This is the git link
Can any one just let me know from which file this error is coming?
It seems that this issue has already been resolved above, so I will go ahead and close it.
I want to simulate TB3-manipulation and followed the Humble instructions. I used:
If I additionally:
Then I get lot of:
I can move the arm using
_teleop
however the control buttons seem to be wrongly mapped. For example pressingjoint1+
and thenjoint1-
does not return the arm to the original position.Is this a bug or feature?