I am using the franka_description package from the develop branch without any modifications to display the robot in RViz without actually connecting to the robot. I have only franka_description package from franka_ros repo and not building any other packages in the catkin_ws. Accordingly, I modified the launch file from the franka_visualization package as follows:
`
<?xml version='1.0' encoding='utf-8'?>
`
However, when I run the launch file I get the following error
`
Unknown substitution command [arm_id]. Valid commands are ['find', 'env', 'optenv', 'dirname', 'anon', 'arg']
when instantiating macro: franka_robot (/Users/cembilaloglu/catkin_ws/src/franka_description/robots/common/franka_robot.xacro)
in file: /Users/cembilaloglu/catkin_ws/src/franka_description/robots/panda/panda.urdf.xacro
RLException: Invalid tag: Cannot load command parameter [robot_description]: command [['/Users/cembilaloglu/miniforge3/envs/robostackenv/lib/xacro/xacro', '/Users/cembilaloglu/catkin_ws/src/franka_description/robots/panda/panda.urdf.xacro', 'hand:=true']] returned with code [2].
Param xml is
The traceback for the exception was written to the log file
`
I would be glad if you can help me to resolve the issue as the log file also does not point to the line that generates the error.
cemoke
commented
1 year ago
I am using the franka_description package from the develop branch without any modifications to display the robot in RViz without actually connecting to the robot. I have only franka_description package from franka_ros repo and not building any other packages in the catkin_ws. Accordingly, I modified the launch file from the franka_visualization package as follows:
` <?xml version='1.0' encoding='utf-8'?>
` However, when I run the launch file I get the following error
` Unknown substitution command [arm_id]. Valid commands are ['find', 'env', 'optenv', 'dirname', 'anon', 'arg'] when instantiating macro: franka_robot (/Users/cembilaloglu/catkin_ws/src/franka_description/robots/common/franka_robot.xacro) in file: /Users/cembilaloglu/catkin_ws/src/franka_description/robots/panda/panda.urdf.xacro RLException: Invalid tag: Cannot load command parameter [robot_description]: command [['/Users/cembilaloglu/miniforge3/envs/robostackenv/lib/xacro/xacro', '/Users/cembilaloglu/catkin_ws/src/franka_description/robots/panda/panda.urdf.xacro', 'hand:=true']] returned with code [2].
Param xml is The traceback for the exception was written to the log file ` I would be glad if you can help me to resolve the issue as the log file also does not point to the line that generates the error.
Thanks in advance!