ros2 foxy moveit2 move_group_interface can't find planning group

[jiaqiwu1999]

Hi, We have a ur5e arm and we want to control it from ros2 scipt. We used ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.50.95 use_fake_hardware:=false launch_rviz:=false and then ros2 launch ur_bringup ur_moveit.launch.py ur_type:=ur5e robot_ip:="192.168.50.95" use_fake_hardware:=false launch_rviz:=true We're able to control the robot arm from Rviz.

However, when we tried to initiate a move_group object in our ROS cpp file and ros run the node as such: using moveit::planning_interface::MoveGroupInterface; auto move_group_interface = MoveGroupInterface(node, "ur_manipulator"); We encountered such error: [INFO] [1658952783.078692872] [moveit_rdf_loader.rdf_loader]: Robot model parameter not found! Did you remap 'robot_description'?

[FATAL] [1658952783.078782619] [move_group_interface]: Unable to construct robot model. Please make sure all needed information is on the parameter server.

We knew that there was a similar issue in #145, but it seems that the situation is different from it because the launch files are different. We believe the name of the planning group to be ur_manipulator, and we have no idea why the moveit in ros doesn't register the ur5e. Thank you in advance!

[irrtisum]

I am also stuck here and getting exactly the same error.

[destogl]

This sounds more like issue with moveIt and not the driver. Is your robot description there?

[irrtisum]

There are 'robot_description's under multiple nodes, when checked with ros2 param list.

[fmauch]

Is the description available for the node containing your C++ interface? I agree with @destogl that this is most probably not an issue with anything from this repository which is why I added the invalid tag.

[irrtisum]

I agree, this is not an issue from this repo. There was no description under the moveit node, I had to write a launch file to add all the parameters.