roslaunch panda_moveit_config demo.launch rviz_tutorial:=true is not working

[DONJAGA]

I have used moveit_turorials in my Ubuntu LTS 20.4 with ROS noetic without an issue for a while but suddenly occurred an error which stating there is no "/opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro " but when looked for the file it does exists. I even tried to remove and reinstall ROS as well as movit the same error comes finally I removed and reinstalled the entire ubuntu 20.4 LTS but still aster fresh start I'm receiving the save error.

I have properly sourced the "source ~/ws_moveit/devel/setup.bash"

:~/ws_moveit/src$ roslaunch panda_moveit_config demo.launch rviz_tutorial:=true
... logging to /home/don/.ros/log/54180f8c-046f-11ec-8eab-0dbc11f3bdf1/roslaunch-don-39428.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_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/don/ws_moveit/src/panda_moveit_config/launch/planning_context.launch:
Invalid <param> 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 <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'"/>
The traceback for the exception was written to the log file

File Avalability

don@don:/opt/ros/noetic/share/franka_description/robots$ ls
dual_panda_example.urdf.xacro  hand.urdf.xacro  hand.xacro  panda_arm.urdf.xacro  panda_arm.xacro  panda_gazebo.xacro  utils.xacro

PS - my catkin Builds perfectly

don@don:~/ws_moveit/src$ catkin build
--------------------------------------------------------
Profile:                     default
Extending:        [explicit] /opt/ros/noetic
Workspace:                   /home/don/ws_moveit
--------------------------------------------------------
Build Space:        [exists] /home/don/ws_moveit/build
Devel Space:        [exists] /home/don/ws_moveit/devel
Install Space:      [unused] /home/don/ws_moveit/install
Log Space:          [exists] /home/don/ws_moveit/logs
Source Space:       [exists] /home/don/ws_moveit/src
DESTDIR:            [unused] None
--------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------
[build] Found '45' packages in 0.0 seconds.                                                                                                                                                               
[build] Package table is up to date.                                                                                                                                                                      
Starting  >>> geometric_shapes                                                                                                                                                                            
Starting  >>> moveit_msgs                                                                                                                                                                                 
Starting  >>> moveit_resources_fanuc_description                                                                                                                                                          
Starting  >>> moveit_resources_panda_description                                                                                                                                                          
Starting  >>> moveit_resources_pr2_description                                                                                                                                                            
Starting  >>> moveit_resources_prbt_support                                                                                                                                                               
Starting  >>> rviz_visual_tools                                                                                                                                                                           
Finished  <<< moveit_resources_panda_description                             [ 0.1 seconds ]                                                                                                              
Starting  >>> moveit_resources_panda_moveit_config                                                                                                                                                        
Finished  <<< geometric_shapes                                               [ 0.1 seconds ]                                                                                                              
Finished  <<< moveit_resources_prbt_support                                  [ 0.1 seconds ]                                                                                                              
Finished  <<< moveit_resources_fanuc_description                             [ 0.2 seconds ]                                                                                                              
Starting  >>> moveit_resources_fanuc_moveit_config                                                                                                                                                        
Finished  <<< moveit_resources_pr2_description                               [ 0.2 seconds ]                                                                                                              
Finished  <<< moveit_resources_panda_moveit_config                           [ 0.2 seconds ]                                                                                                              
Finished  <<< rviz_visual_tools                                              [ 0.6 seconds ]                                                                                                              
Finished  <<< moveit_resources_fanuc_moveit_config                           [ 0.2 seconds ]                                                                                                              
Starting  >>> moveit_resources                                                                                                                                                                            
Finished  <<< moveit_resources                                               [ 0.2 seconds ]                                                                                                              
Finished  <<< moveit_msgs                                                    [ 1.3 seconds ]                                                                                                              
Starting  >>> moveit_core                                                                                                                                                                                 
Finished  <<< moveit_core                                                    [ 0.6 seconds ]                                                                                                              
Starting  >>> chomp_motion_planner                                                                                                                                                                        
Starting  >>> moveit_resources_prbt_ikfast_manipulator_plugin                                                                                                                                             
Starting  >>> moveit_ros_occupancy_map_monitor                                                                                                                                                            
Starting  >>> moveit_simple_controller_manager                                                                                                                                                            
Finished  <<< moveit_resources_prbt_ikfast_manipulator_plugin                [ 0.1 seconds ]                                                                                                              
Starting  >>> moveit_resources_prbt_moveit_config                                                                                                                                                         
Finished  <<< chomp_motion_planner                                           [ 0.2 seconds ]                                                                                                              
Starting  >>> moveit_chomp_optimizer_adapter                                                                                                                                                              
Finished  <<< moveit_ros_occupancy_map_monitor                               [ 0.2 seconds ]                                                                                                              
Starting  >>> moveit_ros_planning                                                                                                                                                                         
Finished  <<< moveit_simple_controller_manager                               [ 0.1 seconds ]                                                                                                              
Starting  >>> moveit_ros_control_interface                                                                                                                                                                
Finished  <<< moveit_resources_prbt_moveit_config                            [ 0.1 seconds ]                                                                                                              
Starting  >>> moveit_resources_prbt_pg70_support                                                                                                                                                          
Finished  <<< moveit_chomp_optimizer_adapter                                 [ 0.1 seconds ]                                                                                                              
Finished  <<< moveit_ros_control_interface                                   [ 0.2 seconds ]                                                                                                              
Finished  <<< moveit_resources_prbt_pg70_support                             [ 0.2 seconds ]                                                                                                              
Finished  <<< moveit_ros_planning                                            [ 0.5 seconds ]                                                                                                              
Starting  >>> moveit_fake_controller_manager                                                                                                                                                              
Starting  >>> moveit_kinematics                                                                                                                                                                           
Starting  >>> moveit_planners_ompl                                                                                                                                                                        
Starting  >>> moveit_ros_perception                                                                                                                                                                       
Starting  >>> moveit_ros_robot_interaction                                                                                                                                                                
Starting  >>> moveit_ros_warehouse                                                                                                                                                                        
Starting  >>> moveit_visual_tools                                                                                                                                                                         
Finished  <<< moveit_kinematics                                              [ 0.2 seconds ]                                                                                                              
Starting  >>> moveit_ros_move_group                                                                                                                                                                       
Finished  <<< moveit_fake_controller_manager                                 [ 0.1 seconds ]                                                                                                              
Starting  >>> moveit_plugins                                                                                                                                                                              
Finished  <<< moveit_planners_ompl                                           [ 0.2 seconds ]                                                                                                              
Finished  <<< moveit_visual_tools                                            [ 0.2 seconds ]                                                                                                              
Finished  <<< moveit_ros_warehouse                                           [ 0.2 seconds ]                                                                                                              
Starting  >>> moveit_ros_benchmarks                                                                                                                                                                       
Finished  <<< moveit_ros_robot_interaction                                   [ 0.2 seconds ]                                                                                                              
Finished  <<< moveit_plugins                                                 [ 0.2 seconds ]                                                                                                              
Finished  <<< moveit_ros_perception                                          [ 0.6 seconds ]                                                                                                              
Finished  <<< moveit_ros_benchmarks                                          [ 0.3 seconds ]                                                                                                              
Finished  <<< moveit_ros_move_group                                          [ 0.6 seconds ]                                                                                                              
Starting  >>> moveit_ros_manipulation                                                                                                                                                                     
Finished  <<< moveit_ros_manipulation                                        [ 0.2 seconds ]                                                                                                              
Starting  >>> moveit_ros_planning_interface                                                                                                                                                               
Finished  <<< moveit_ros_planning_interface                                  [ 0.4 seconds ]                                                                                                              
Starting  >>> moveit_commander                                                                                                                                                                            
Starting  >>> moveit_planners_chomp                                                                                                                                                                       
Starting  >>> moveit_ros_visualization                                                                                                                                                                    
Starting  >>> moveit_servo                                                                                                                                                                                
Finished  <<< moveit_commander                                               [ 0.2 seconds ]                                                                                                              
Starting  >>> pilz_industrial_motion_planner_testutils                                                                                                                                                    
Finished  <<< moveit_servo                                                   [ 0.5 seconds ]                                                                                                              
Finished  <<< moveit_planners_chomp                                          [ 0.2 seconds ]                                                                                                              
Starting  >>> moveit_planners                                                                                                                                                                             
Finished  <<< moveit_planners                                                [ 0.2 seconds ]                                                                                                              
Finished  <<< moveit_ros_visualization                                       [ 0.7 seconds ]                                                                                                              
Starting  >>> moveit_ros                                                                                                                                                                                  
Starting  >>> moveit_runtime                                                                                                                                                                              
Starting  >>> moveit_setup_assistant                                                                                                                                                                      
Starting  >>> panda_moveit_config                                                                                                                                                                         
Finished  <<< pilz_industrial_motion_planner_testutils                       [ 0.4 seconds ]                                                                                                              
Starting  >>> pilz_industrial_motion_planner                                                                                                                                                              
Finished  <<< panda_moveit_config                                            [ 0.1 seconds ]                                                                                                              
Starting  >>> moveit_tutorials                                                                                                                                                                            
Finished  <<< moveit_runtime                                                 [ 0.1 seconds ]                                                                                                              
Finished  <<< moveit_ros                                                     [ 0.1 seconds ]                                                                                                              
Finished  <<< moveit_setup_assistant                                         [ 0.4 seconds ]                                                                                                              
Starting  >>> moveit                                                                                                                                                                                      
Finished  <<< moveit                                                         [ 0.2 seconds ]                                                                                                              
Finished  <<< moveit_tutorials                                               [ 0.4 seconds ]                                                                                                              
Finished  <<< pilz_industrial_motion_planner                                 [ 0.5 seconds ]                                                                                                              
[build] Summary: All 45 packages succeeded!                                                                                                                                                               
[build]   Ignored:   None.                                                                                                                                                                                
[build]   Warnings:  None.                                                                                                                                                                                
[build]   Abandoned: None.                                                                                                                                                                                
[build]   Failed:    None.                                                                                                                                                                                
[build] Runtime: 6.5 seconds total.       

[welcome[bot]]

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

[tylerjw]

dual_panda_example.urdf.xacro hand.urdf.xacro hand.xacro panda_arm.urdf.xacro panda_arm.xacro panda_gazebo.xacro utils.xacro

I don't see panda_arm_hand.urdf.xacro in that list. What does this output?

ls /opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro

I think this means franka_description probably changed and released and we need to update something that refers to that file.

[DONJAGA]

dual_panda_example.urdf.xacro hand.urdf.xacro hand.xacro panda_arm.urdf.xacro panda_arm.xacro panda_gazebo.xacro utils.xacro

I don't see panda_arm_hand.urdf.xacro in that list. What does this output?

ls /opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro

I think this means franka_description probably changed and released and we need to update something that refers to that file.

[DONJAGA]

dual_panda_example.urdf.xacro hand.urdf.xacro hand.xacro panda_arm.urdf.xacro panda_arm.xacro panda_gazebo.xacro utils.xacro

I don't see panda_arm_hand.urdf.xacro in that list. What does this output? ls /opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro I think this means franka_description probably changed and released and we need to update something that refers to that file.

YES, I got it now! Thanks, I thought "panda_arm_hand.urdf.xacro" was there. moveit should change their executing script.

[tylerjw]

moveit should change their executing script.

Do you mind trying the various other xacro files that are there and letting us know if any of them work well? If you figure this out you can open a PR to change the file and I'll be happy to help review it.

[DONJAGA]

The following Solution from users-rizgiak worked for me!!

Remove panda_arm_hand.urdf.xacro changed to panda_arm.urdf.xacro.

find the file from

don@don:~/ws_moveit/src/panda_moveit_config/launch$ ls
chomp_planning_pipeline.launch.xml
default_warehouse_db.launch
demo_chomp.launch
demo.launch
fake_moveit_controller_manager.launch.xml
joystick_control.launch
lerp_planning_pipeline.launch.xml
move_group.launch
moveit_empty.rviz
moveit.rviz
moveit_rviz.launch
ompl-chomp_planning_pipeline.launch.xml
ompl_planning_pipeline.launch.xml
panda_control_moveit_rviz.launch
panda_gripper_moveit_controller_manager.launch.xml
panda_moveit_controller_manager.launch.xml
panda_moveit.launch
panda_moveit_sensor_manager.launch.xml
planning_context.launch
planning_pipeline.launch.xml
run_benchmark_ompl.launch
run_benchmark_trajopt.launch
sensor_manager.launch.xml
setup_assistant.launch
stomp_planning_pipeline.launch.xml
trajectory_execution.launch.xml
trajopt_planning_pipeline.launch.xml
warehouse.launch
warehouse_settings.launch.xml

Then use nano or vim to edit the line

//

  don@don:~/ws_moveit/src/panda_moveit_config/launch$ sudo nano planning_context.launch  

//

in the file change line

<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"/>

Then overwrite

After saving the file use catkin build and launch the moveit using the command.

roslaunch panda_moveit_config demo.launch rviz_tutorial:=true

[illusionsoftruth]

The following Solution from users-rizgiak worked for me!!

Remove panda_arm_hand.urdf.xacro changed to panda_arm.urdf.xacro.

find the file from

don@don:~/ws_moveit/src/panda_moveit_config/launch$ ls chomp_planning_pipeline.launch.xml default_warehouse_db.launch demo_chomp.launch demo.launch fake_moveit_controller_manager.launch.xml joystick_control.launch lerp_planning_pipeline.launch.xml move_group.launch moveit_empty.rviz moveit.rviz moveit_rviz.launch ompl-chomp_planning_pipeline.launch.xml ompl_planning_pipeline.launch.xml panda_control_moveit_rviz.launch panda_gripper_moveit_controller_manager.launch.xml panda_moveit_controller_manager.launch.xml panda_moveit.launch panda_moveit_sensor_manager.launch.xml planning_context.launch planning_pipeline.launch.xml run_benchmark_ompl.launch run_benchmark_trajopt.launch sensor_manager.launch.xml setup_assistant.launch stomp_planning_pipeline.launch.xml trajectory_execution.launch.xml trajopt_planning_pipeline.launch.xml warehouse.launch warehouse_settings.launch.xml Then use nano or vim to edit the line

//

don@don:~/ws_moveit/src/panda_moveit_config/launch$ sudo nano planning_context.launch
//

in the file change line

<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"/>

Then overwrite

After saving the file use catkin build and launch the moveit using the command.

roslaunch panda_moveit_config demo.launch rviz_tutorial:=true

I am trying to run roslaunch panda_sim_moveit sim_move_group.launch and I am getting this error :-

RLException: while processing /home/illusionsoftruth/catkin_ws/src/panda_moveit_config/launch/trajectory_execution.launch.xml: while processing /home/illusionsoftruth/catkin_ws/src/panda_moveit_config/launch/panda_gripper_moveit_controller_manager.launch.xml: Invalid roslaunch XML syntax: [Errno 2] No such file or directory: '/home/illusionsoftruth/catkin_ws/src/panda_moveit_config/launch/panda_gripper_moveit_controller_manager.launch.xml' The traceback for the exception was written to the log file

As you can see that it is seraching for panda_gripper_moveit_controller_manager.launch.xml but that file no longer exists in this repo anymore.

illusionsoftruth@luciddreamingguy:~/catkin_ws/src/panda_moveit_config/launch$ ls chomp_planning_pipeline.launch.xml default_warehouse_db.launch demo_chomp.launch demo_gazebo.launch demo.launch demo_lerp.launch demo_stomp.launch fake_moveit_controller_manager.launch.xml franka_control.launch joystick_control.launch lerp_planning_pipeline.launch.xml move_group.launch moveit_empty.rviz moveit.rviz moveit_rviz.launch moveit_scene.rviz ompl-chomp_planning_pipeline.launch.xml ompl_planning_pipeline.launch.xml panda_moveit_sensor_manager.launch.xml pilz_industrial_motion_planner_planning_pipeline.launch.xml planning_context.launch planning_pipeline.launch.xml ros_controllers.launch ros_control_moveit_controller_manager.launch.xml run_benchmark_ompl.launch run_benchmark_trajopt.launch sensor_manager.launch.xml setup_assistant.launch simple_moveit_controller_manager.launch.xml stomp_planning_pipeline.launch.xml trajectory_execution.launch.xml trajopt_planning_pipeline.launch.xml warehouse.launch warehouse_settings.launch.xml

Can someone help me out with this?

[illusionsoftruth]

Actually nevermind, I found it in the kinetic-devel branch