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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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No collision geometry #71

Closed JhuaDuan closed 3 years ago

JhuaDuan commented 3 years ago

When i was ran :roslaunch panda_moveit_config panda_control_moveit_rviz.launch load_gripper:=true robot_ip:=172.16.0.2. Some warn occurred as following:

[ WARN] [1600866644.391617690]: 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] [1600866644.392008313]: 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.

v4hn commented 3 years ago

This is a bug in the current upstream robot model that was pointed out multiple times already. They did not fix it yet though and you should file an issue there instead.

That being said, the warning can be safely ignored unless you rely on these specific collision bodies, because other links have collision geometry that encloses the empty ones.

JhuaDuan commented 3 years ago

@v4hn Thanks for your help. This bug causes the gripper to disconnect, since I can't ignore this.