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lbr-stack / lbr_fri_ros2_stack

ROS 2 integration for KUKA LBR IIWA 7/14 and Med 7/14
https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack.html
Apache License 2.0
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iiwa14 with robotiq hand_e #199

Open Miftahur92 opened 4 months ago

Miftahur92 commented 4 months ago

I am trying to create a use a robotiq hande gripper with iiwa14. I have used the iiwa14 urdf file provided in this package. I have create robotiq hande description packages and control packages. When I run the robotiq hande gipper packages alone without attaching it to iiwa14 URDF, it runs perfectly fine (image attached) Screenshot from 2024-07-31 12-15-09 But when I added the gripper URDF in the iiwa14 URDF, I can only see the gripper base link. Rviz shows an error that the there is no joint between the fingers and the gripper base (image attached) Screenshot from 2024-07-31 12-09-08

This is the modified iiwa14 URDF: `<?xml version="1.0"?>

` Can I anyone please help me to debug the issues?
mhubii commented 2 months ago

hi @Miftahur92 , the error suggests a missing transformation. Maybe the robot state publisher doesn't receive the joint states correctly?

mhubii commented 2 months ago

related to #169