[bug] Pick & Place `franka_gazebo` example broken on Binary packages - Githubissues

frankaemika / franka_ros

ROS integration for Franka research robots

https://frankaemika.github.io

Apache License 2.0

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[bug] Pick & Place `franka_gazebo` example broken on Binary packages #360

Open rickstaa opened 1 year ago

rickstaa commented 1 year ago

As explained in https://github.com/frankaemika/franka_ros/pull/305 the Pick & Place example given in the documentation is not working when installing the franka_gazebo package from the binary packages. This is because the installation does not include the models and world folders. This is quite a trivial issue that can be easily solved by merging https://github.com/frankaemika/franka_ros/pull/305.

How to reproduce

Install the franka_ros binary package (i.e. sudo apt install ros-noetic-franka-ros).
Source the global ROS workspace (i.e. `. /opt/ros/noetic/setup.bash').

Launch the Pick & Place example using the following command:

roslaunch franka_gazebo panda.launch x:=-0.5 \
world:=$(rospack find franka_gazebo)/world/stone.sdf \
controller:=cartesian_impedance_example_controller \
rviz:=true

See that the table and pickup objects are not loaded correctly.

TODOs

[ ] Merge https://github.com/frankaemika/franka_ros/pull/305.