Moveit! Grasps Tutorials fail to launch on Ubuntu 20.04/Ros Noetic!

[BayraktarogluCan]

Description Attempting to launch Moveit! Grasps tutorials with ROS Noetic installed from binary and moveit installed from source. I have tried every single possible solution I could find in the previously closed issues, unfortunately to no avail. Also tried reconfiguring .macro files tracing each and every single one of them across folders and packages like "panda_moveit_config", "franka_description" etc. including every single launch file, the tutorials and packages depend on. I undid every change and rebuilt everything before opening this issue.

Your Environment ROS Distro: Noetic OS Version: Ubuntu 20.04 Source or Binary build: Binary

Steps to reproduce Follow instructions at https://ros-planning.github.io/moveit_tutorials/doc/moveit_grasps/moveit_grasps_tutorial.html . Terminals sourced succesfully.

Expected behaviour

roslaunch moveit_grasps rviz.launch 

should launch rviz without errors.

roslaunch moveit_grasps grasp_pipeline_demo.launch

should launch successfully after running command consecutive to the launch of rviz, in a second terminal.

Actual behaviour Errors in both terminals regarding failing files and unsuccessfull attempts at trying to load groups "panda_arm" and "hand", as they are not found in "panda" after trying to reconfigure .launch and .xacro files personally.

Backtrace or Console Output Console output of roslaunch moveit_grasps rviz.launch after freshly building catkin workspace and running the command

... logging to /home/canbayraktaroglu/.ros/log/65b5fffe-5a2e-11ed-a71d-d7b6d5f7f5c8/roslaunch-ubuntufocalfossa-46927.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

No such file or directory: /opt/ros/noetic/share/franka_description/robots/panda_arm.xacro [Errno 2] No such file or directory: '/opt/ros/noetic/share/franka_description/robots/panda_arm.xacro'
when processing file: /home/canbayraktaroglu/ws_moveit/src/moveit_grasps/robots/panda_arm_two_finger_hand.urdf.xacro
RLException: while processing /home/canbayraktaroglu/ws_moveit/src/moveit_grasps/launch/panda_planning_context.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '/home/canbayraktaroglu/ws_moveit/src/moveit_grasps/robots/panda_arm_two_finger_hand.urdf.xacro']] returned with code [2]. 

Param xml is <param if="$(eval arg('load_robot_description') and arg('gripper')=='two_finger')" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find moveit_grasps)/robots/panda_arm_two_finger_hand.urdf.xacro'"/>
The traceback for the exception was written to the log file

Console output of roslaunch moveit_grasps grasp_pipeline_demo.launch after freshly building catkin workspace and running the command in a second terminal following the first command.

... logging to /home/canbayraktaroglu/.ros/log/70290576-5a2e-11ed-a71d-d7b6d5f7f5c8/roslaunch-ubuntufocalfossa-46944.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

No such file or directory: /opt/ros/noetic/share/franka_description/robots/panda_arm.xacro [Errno 2] No such file or directory: '/opt/ros/noetic/share/franka_description/robots/panda_arm.xacro'
when processing file: /home/canbayraktaroglu/ws_moveit/src/moveit_grasps/robots/panda_arm_two_finger_hand.urdf.xacro
RLException: while processing /home/canbayraktaroglu/ws_moveit/src/moveit_grasps/launch/load_panda.launch:
while processing /home/canbayraktaroglu/ws_moveit/src/moveit_grasps/launch/panda_planning_context.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '/home/canbayraktaroglu/ws_moveit/src/moveit_grasps/robots/panda_arm_two_finger_hand.urdf.xacro']] returned with code [2]. 

Param xml is <param if="$(eval arg('load_robot_description') and arg('gripper')=='two_finger')" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find moveit_grasps)/robots/panda_arm_two_finger_hand.urdf.xacro'"/>
The traceback for the exception was written to the log file

[TheodoroCardoso]

+1. I have the exact same issue here.

[rhaschke]

See https://github.com/ros-planning/moveit_grasps/pull/111 for some mitigation.