When running the roslaunch franka_gazebo panda.launch command, a warning is consistently issued:
Caution: Robot names differ! Read 'arm_id: panda' from the parameter server, but URDF defines '<robotNamespace>/</robotNamespace>'. Will use 'panda'!
This warning is generated by the following code snippet in the franka_hw_sim.cpp file:
The intention behind this code was to provide a more explicit warning to users when the robot namespaces don't match, as opposed to the cryptic error message, "Controller Spawner couldn't find the expected controller_manager ROS interface," which occurs when the URDF cannot be loaded (see https://github.com/frankaemika/franka_ros/pull/187#issuecomment-963242982).
When running the roslaunch franka_gazebo panda.launch command, a warning is consistently issued:
https://github.com/frankaemika/franka_ros/blob/d439fc7d66a3edb890eefb0fa955f6d7042cac12/franka_gazebo/src/franka_hw_sim.cpp#L39-L45
The intention behind this code was to provide a more explicit warning to users when the robot namespaces don't match, as opposed to the cryptic error message, "Controller Spawner couldn't find the expected controller_manager ROS interface," which occurs when the URDF cannot be loaded (see https://github.com/frankaemika/franka_ros/pull/187#issuecomment-963242982).
However, as also pointed out by @gollth in https://github.com/frankaemika/franka_ros/pull/187#issuecomment-963242982, this issue should no longer be present. The URDF must be successfully located to define the FrankaHWSim plugin, rendering the warning unnecessary.
To address this, I've created PR #366 to remove the code responsible for generating this warning.
TODOs