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justagist / panda_robot

A ROS python interface for using the franka robot (requires franka_ros_interface). Simplified control and management API.
https://justagist.github.io/panda_robot
Apache License 2.0
85 stars 17 forks source link

HI I got a fatal error when catkin build #4

Closed Sission closed 3 years ago

Sission commented 3 years ago

fatal error: franka_control/ErrorRecoveryAction.h: No such file or directory #include <franka_control/ErrorRecoveryAction.h>

Could you help me with this?

justagist commented 3 years ago

Please use the v0.7.1 branch of the franka_ros_interface (git checkout v0.7.1) package in your workspace, and build again.

Sission commented 3 years ago

Thanks, that works for me. However, it seems to have some texture issues when I run the demo python code:

[ERROR] [1606345135.771862743]: Error retrieving file [file:///opt/ros/melodic/share/franka_description/meshes/collision/link3.stl]: Couldn't open file /opt/ros/melodic/share/franka_description/meshes/collision/link3.stl

Also, I got a WARN [ WARN] [1606345157.126570625, 94.691000000]: Homing not implemented for simulator. [ WARN] [1606345157.126619852, 94.691000000]: Your executeCallback did not set the goal to a terminal status. This is a bug in your ActionServer implementation. Fix your code! For now, the ActionServer will set this goal to aborted

justagist commented 3 years ago

The new version of franka_ros does not have the collision descriptions. You are using the old version of robot description package. Please update the franka_panda_description package by performing a git pull.

Sission commented 3 years ago

Thanks!

May I ask, the ee_pose() refers to which joint? the hand or the joint 7?