Unable to launch the "panda_gazebo/panda_hithand.launch"

[CodingCatMountain]

Morning, @qqianfeng. When I try to roslaunch panda_gazebo panda_hithand.launch, I met this error:

unknown macro name: xacro:hithand
when processing file: /home/wjj/mdisk/ffhnet_ws/src/franka-panda-description/robots/panda_arm_hand.urdf.xacro
RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '/home/wjj/mdisk/ffhnet_ws/src/franka-panda-description/robots/panda_arm_hand.urdf.xacro', 'load_gripper:=false', 'load_hand:=true', 'realsense:=d415']] returned with code [2]. 

Param xml is <param name="robot_description" command="    $(find xacro)/xacro '$(find franka_panda_description)/robots/panda_arm_hand.urdf.xacro'    load_gripper:=$(arg load_gripper)  load_hand:=$(arg load_hand)  realsense:=$(arg realsense)"/>
The traceback for the exception was written to the log file

After trying to debugging, I can locate the problem comes from the this command in panda_hithand.launch, however I can't solve this problem.

  <!-- Load the robot and end effector URDF-->  
  <param name="robot_description" command="
      $(find xacro)/xacro '$(find franka_panda_description)/robots/panda_arm_hand.urdf.xacro'
    load_gripper:=$(arg load_gripper)
    load_hand:=$(arg load_hand)
    realsense:=$(arg realsense) --order"/>

Could you give me more instructions about how to solve this problem? Looking forward to your reply.

P.S. My OS is Ubuntu 20.04 (ROS Noetic)

Your Sincerely, Kacun.

[qqianfeng]

Hi @CodingCatMountain I gess you are trying to load the hand but the hand description is not found. Add here: https://github.com/qqianfeng/hithand_ros

[CodingCatMountain]

@qqianfeng Thanks for replying. Yeah, In the beginning, I can't find the hithand_ros repo. After I carefully search your repos. I found the details about hithand_ros and the installation about this repo in Readme. Moreover, I uninstall the Gazebo which I installed before from apt, and following your instructions in readme to install gazebo from source step by step. For now, I can see the franka with hithand in gazebo, as following:

However, there are another problems raised:

1. I have no idea about how to generate the grasping gesture after roslaunch panda_gazebo panda_hithand.launch, roslaunch panda_hithand_moveit_config panda_hithand_moveit.launch, roslaunch grasp_pipeline grasp_pipeline_servers.launch. Since there are no object in gazebo or rviz, and no any instruction to move the robot to grasp the object.
2. And I met such below error when I tried to use moveit via rvia gui (use "plan", "execute" buttons) to move the robot.

   
   [ INFO] [1725368445.122184443, 2221.632000000]: Execution request received
   [ERROR] [1725368445.122247514, 2221.632000000]: Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
   [ERROR] [1725368445.122261581, 2221.632000000]: Known controllers and their joints:

[ INFO] [1725368445.126831589, 2221.637000000]: ABORTED: CONTROL_FAILED

I will be very appreciate that if you could give me more instructions. 
Your sincerely,
Kacun.

[qqianfeng]

Hi @CodingCatMountain after these launch files being executed, you can run

cd ~/path/to/grasp-pipeline/src/grasp_pipeline/main/sim
python2 data_gen_pipeline.py

more details you can find here: https://github.com/qqianfeng/grasp-pipeline/blob/master/README.md

For the error you mentioned in moveit/rviz, i'm not aware of it. But after you run the script, you will see robot moving and grasping, hopefully.

[CodingCatMountain]

@qqianfeng Thank you a lot for the instructions from FFHNet repo to grasp-pipeline repo. I hope I can run up the data_gen_pipeline script succesfully tomorrow. :)

Your Sincerely, Kacun.