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moveit / panda_moveit_config

The Panda robot is the flagship MoveIt integration robot
http://docs.ros.org/kinetic/api/moveit_tutorials/html/
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Group 'panda_manipulator' is empty & Link 'panda_hand_tcp' declared as part of a chain in group 'panda_manipulator' is not known to the URDF #141

Open upc-ghy opened 7 months ago

upc-ghy commented 7 months ago

PC Ubuntu 20.04 ros noetic I have correctly installed libFranka and Franka'ros according to the tutorial before installing Moveit. When I follow https://moveit.ros.org/install/source/ When installing Moveit 1.0 without errors in the tutorial, I conducted the following tests on the installed Moveit:

roslaunch panda_moveit_config franka_control.launch robot_ip:=172.16.3.69

The following error was discovered as a result. My panda_arm are normal and can be planned and executed. Please give me some guidance, I would greatly appreciate it. 

[ERROR] [1712405841.172965565]: Link 'panda_hand_tcp' declared as part of a chain in group 'panda_manipulator' is not known to the URDF
[ WARN] [1712405841.173009900]: Group 'panda_manipulator' is empty.
[ERROR] [1712405841.173814276]: Link 'panda_hand_tcp' specified as parent for end effector 'panda_hand_tcp' is not known to the URDF
[ WARN] [1712405841.173892827]: Link 'panda_link0_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1712405841.173920940]: Link 'panda_link1_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1712405841.173950750]: Link 'panda_link2_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1712405841.173976903]: Link 'panda_link3_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1712405841.173997879]: Link 'panda_link4_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1712405841.174017783]: Link 'panda_link5_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1712405841.174037317]: Link 'panda_link6_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1712405841.174056920]: Link 'panda_link7_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1712405841.174077081]: Link 'panda_hand_sc' is not known to URDF. Cannot specify collision default.
[ WARN] [1712405841.174107003]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1712405841.174127863]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1712405841.174148131]: Link 'panda_link0_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1712405841.174168542]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1712405841.174188269]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1712405841.174208787]: Link 'panda_link1_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1712405841.174228992]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1712405841.174249053]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1712405841.174269316]: Link 'panda_link2_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1712405841.174289396]: Link 'panda_link3_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1712405841.174311769]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1712405841.174331848]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1712405841.174351543]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ WARN] [1712405841.174371157]: Link 'panda_hand_sc' is not known to URDF. Cannot disable/enable collisons.
[ INFO] [1712405841.174673954]: Loading robot model 'panda'...
[ WARN] [1712405841.174971388]: Link panda_leftfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1712405841.175016775]: Link panda_rightfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ WARN] [1712405841.175768763]: Group 'panda_manipulator' must have at least one valid joint
[ WARN] [1712405841.175795935]: Failed to add group 'panda_manipulator'
[ERROR] [1712405841.175964231]: Group state 'ready' specified for group 'panda_manipulator', but that group does not exist
[ERROR] [1712405841.175987836]: Group state 'extended' specified for group 'panda_manipulator', but that group does not exist

And as long as I run roslauch frankaself-control frankaself-control. launch robot_ip:=172.16.3.69 load_gripper:=true, it will change from ready to end effector unconnected on the desk interface.

image

image

When adjusting the Planning Group to panda_hand, there will be the following error:

image

rhaschke commented 7 months ago

You are probably using an outdated version of franka_description. Please check the package version! Should be 0.10.1. Regarding the last "error": The group panda_hand doesn't define an end-effector. It's just composed of a the two hand joints. The message is an info, not an error.

upc-ghy commented 7 months ago

@rhaschke Thank you so much for your guidance and valuable time! I still have some confusion regarding downloading the latest version (0.10.1) of franka_description. As my robot server is version 4, I followed the link you provided (https://frankaemika.github.io/docs/compatibility.html) and downloaded the 0.8.0 versions of libfranka and franka_ros to ensure compatibility.

So, just to clarify, are you suggesting that I can download only the latest version of franka_description while keeping the other components at version 0.8.0? I would greatly appreciate it if you could provide some guidance to this novice.

rhaschke commented 7 months ago

Yes, you can use the latest version of franka_ros. The compatibility table suggests to use a version later than 0.8.0.