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moveit / moveit_tutorials

A sphinx-based centralized documentation repo for MoveIt
https://moveit.github.io/moveit_tutorials/
BSD 3-Clause "New" or "Revised" License
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MoveIt Tutorial for ROS Noetic not working #659

Closed Wildimp closed 2 years ago

Wildimp commented 3 years ago

Description

I tried to run the second chapter of the MoveIt tutorial for ROS Noetic and cant get past the first command because a urdf/xacro file is missing. I guess it is related to the change of franka_ros from version 0.7.1 to 0.8.0 in which they changed the urdf files. Changelog of franka_ros: https://github.com/frankaemika/franka_ros/blob/noetic-devel/CHANGELOG.md#080---2021-08-03 It was also already adressed in the repo of franka_ros: https://github.com/frankaemika/franka_ros/issues/148

Your environment

Steps to reproduce

Simply follow allong the MoveIt tutorial for ROS Noetic. After finishing the chapter 'Getting started' try to launch the demo.launch file from the second chapter 'MoveIt Quickstart in RViz'. It will throw the following error:

No such file or directory: /opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro [Errno 2] No such file or directory: '/opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro' RLException: while processing /home/essert/ws_moveit/src/panda_moveit_config/launch/planning_context.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '/opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro']] returned with code [2].

Param xml is The traceback for the exception was written to the log file

Expected behaviour

The tutorial for RViz should start

I am pretty new to ROS and github so i am sorry if i am doing mistakes with linking to other sites or if I am saying nonsense.

welcome[bot] commented 3 years ago

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

tammerb commented 3 years ago

@Wildimp I had the same issue. Follow these pull requests for updates: https://github.com/ros-planning/panda_moveit_config/pull/83

rickstaa commented 3 years ago

@Wildimp For other errors related to Noetic see https://github.com/ros-planning/panda_moveit_config/pull/74. We are working on a Noetic version of the moveit_tutorials and panda_moveit_config packages.

BolunDai0216 commented 2 years ago

You can try to change the following line in planning_context.launch of the panda_moveit_config package from

<param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>

to 

<param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro' hand:=true"/>
rhaschke commented 2 years ago

This issue was fixed in release 0.7.6

rhaschke commented 10 months ago

@CleisonManriqueAguirre please open a new issue exactly describing what is not working.