Unfortunately, third party packages like MoveIt expect each controllable joint to have a collision mesh/geometry. If these are not found, the following warnings are thrown:
[ WARN] [1628672207.286446541]: Link panda_leftfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1628672207.286477598]: Link panda_rightfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
This can easily be solved by moving the collision geometries from the hand joint to the finger joint. I created three possible solutions to this problem (i.e. #151, #150 or #152).
In the current robot description (i.e. franka_ros v0.8.0) the collision geometries for the fingers are found inside the hand joint.
https://github.com/frankaemika/franka_ros/blob/356ec114c488c75edeaf5315633359459d37af31/franka_description/robots/hand.xacro#L30-L53
Unfortunately, third party packages like MoveIt expect each controllable joint to have a collision mesh/geometry. If these are not found, the following warnings are thrown:
This can easily be solved by moving the collision geometries from the hand joint to the finger joint. I created three possible solutions to this problem (i.e. #151, #150 or #152).
Steps to reproduce the issue
roslaunch panda_moveit_config demo.launch
.