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The answer for me was because inertial portion of the link was not added in the robotiq_c2_model_macro.xacro file. There should be something like this in the link definition: <inertial> <mass value="0.018491"/> <origin xyz="0.0 0.0 0.0"/> <inertia ixx="0.000009" ixy="-0.000001" ixz="0.000000" iyy="0.000001" iyz="0.000000" izz="0.000010"/> </inertial>

The answer for me was because inertial portion of the link was not added in the robotiq_c2_model_macro.xacro file. There should be something like this in the link definition: definition:

        <inertial>
            <mass value="0.018491" />
 <mass value="0.018491"/>
        <origin xyz="0.0 0.0 0.0" />
            <inertia ixx = "0.000009" ixy = "-0.000001" ixz = "0.000000"
 <origin xyz="0.0 0.0 0.0"/>
     iyy = "0.000001" iyz = "0.000000"
 <inertia ixx="0.000009" ixy="-0.000001" ixz="0.000000" iyy="0.000001" iyz="0.000000" izz="0.000010"/>
     izz = "0.000010" />
     </inertial>
</inertial>