Regd. Setup Assistant Tutorial

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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Regd. Setup Assistant Tutorial #734

Closed karnikram closed 1 year ago

karnikram commented 1 year ago

Description

Hi, I'm trying to setup the Franka Panda arm for Gazebo by following the setup assistant tutorial. But the tutorial refers to the file panda_arm.urdf.xacro which is not available in the Franka package. There is only a panda.urdf.xacro file but that comes without the gripper so I am unable to follow the subsequent steps.

Is there a way to resolve this? Thanks!

Your environment

ROS Distro: Noetic
OS Version: Ubuntu 20.04
Source build from master

welcome[bot] commented 1 year ago

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

rhaschke commented 1 year ago

If you have a look into the way panda_moveit_config loads the URDF, you see that there is an argument hand, which can be set to true to enable the hand:

xacro '$(find franka_description)/robots/panda/panda.urdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id)"

Unfortunately, @frankaemika maintainers have hidden all argument declarations in file franka_robot.xacro with their latest refactoring.