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xArm-Developer / xarm_ros2

ROS2 developer packages for robotic products from UFACTORY
https://www.ufactory.cc/pages/xarm
BSD 3-Clause "New" or "Revised" License
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What's joint model group name of uf850 #105

Closed ogios closed 1 month ago

ogios commented 1 month ago

Sorry i'm new to this. I'm trying to convert moveit2 tutorial panda_arm to uf850, so basically it's this:

self.panda = MoveItPy(node_name="moveit_uf850", config_dict=moveit_config)
self.panda_arm = self.panda.get_planning_component("uf850") # The error occurs here
# self.panda.get_planning_component()
self.planning_scene_monitor: PlanningSceneMonitor = (
    self.panda.get_planning_scene_monitor()
)

The error goes with:

self.panda_arm = self.panda.get_planning_component("uf850")
RuntimeError: Could not find joint model group 'uf850'.

I saw that in xarm_moveit_config/srdf/_uf850_macro.srdf.xacro it says group name is {prefix}uf850 and the prefix is actually an empty string so the group name should be uf850? But it do not work, i've tried also xarm/controllers_initial_group_+xarm&uf850..., none of them works.

So how can i solve it?

penglongxiang commented 1 month ago

Hi @ogios, it seems 'uf850' is correct for the group name. Could you please show us the specific procedures to reproduce the issue? Like what is the launch file and arguments given before executing this python script? It can imply what nodes and parameters are loaded and running in the background. And could you show us the full python code (can be a minimum version just to catch the error)?

ogios commented 1 month ago

@penglongxiang Thanks! And as i go through the uf_ros_lib MoveItConfigBuilder, i found that it's because i should pass in the robot_type & dof as xarco arguments. Now i can get this work.