The robot will fly away in gazebo in bring_up demo

lbr-stack / lbr_fri_ros2_stack

ROS 1/2 integration for KUKA LBR IIWA 7/14 and Med 7/14

https://lbr-stack.readthedocs.io/en/latest/

Apache License 2.0

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Closed Tianhuanyu closed 6 months ago

Tianhuanyu commented 8 months ago

When I run this demo: ` ros2 launch lbr_bringup bringup.launch.py model:=iiwa7 sim:=true rviz:=true moveit:=true

` I meet this issue:

The planning execution of robot should have no problem, but the basement link may be not fixed. So the robot 'fly away' in gazebo

mhubii commented 8 months ago

thanks for sharing this issue @Tianhuanyu! This was introduced with #121. We are investigating a fix

mhubii commented 8 months ago

when launching the system with base_frame:=world, everything works as intended. E.g.

ros2 launch lbr_bringup bringup.launch.py model:=iiwa7 moveit:=true sim:=true base_frame:=world

It appears that Gazebo requires a specific name for the base frame.

mhubii commented 6 months ago

fixed in #144