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The following Solution from users-rizgiak worked for me!!

Remove panda_arm_hand.urdf.xacro changed to panda_arm.urdf.xacro.

find the file from

don@don:~/ws_moveit/src/panda_moveit_config/launch$ ls
chomp_planning_pipeline.launch.xml
default_warehouse_db.launch
demo_chomp.launch
demo.launch
fake_moveit_controller_manager.launch.xml
joystick_control.launch
lerp_planning_pipeline.launch.xml
move_group.launch
moveit_empty.rviz
moveit.rviz
moveit_rviz.launch
ompl-chomp_planning_pipeline.launch.xml
ompl_planning_pipeline.launch.xml
panda_control_moveit_rviz.launch
panda_gripper_moveit_controller_manager.launch.xml
panda_moveit_controller_manager.launch.xml
panda_moveit.launch
panda_moveit_sensor_manager.launch.xml
planning_context.launch
planning_pipeline.launch.xml
run_benchmark_ompl.launch
run_benchmark_trajopt.launch
sensor_manager.launch.xml
setup_assistant.launch
stomp_planning_pipeline.launch.xml
trajectory_execution.launch.xml
trajopt_planning_pipeline.launch.xml
warehouse.launch
warehouse_settings.launch.xml

Then use nano or vim to edit the line

//

 don@don:~/ws_moveit/src/panda_moveit_config/launch$ sudo nano planning_context.launch  

//

in the file change line

<param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>

to

<param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro' hand:=true"/>

Then overwrite

After saving the file use catkin build and launch the moveit using the command.

roslaunch panda_moveit_config demo.launch rviz_tutorial:=true