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Not sure if it is a real cause of the problem, but you have duplicated joint_state_publisher node in your config.

Also, if understand correctly, TX60L is an industrial manipulator from Staubli that is supposed to be fixed, e.g to a floor. So in case you are not going to put it on wheels in your simulation you don't need odometry frame. Thus a more relevant tutorial for you would be the one from ROS Industrial. There is a reference to demo.launch template where you should specify the name of your MoveIt generated package.

So, for example, I have the following demo.launch for Schunk LWA manipulator:

<launch>
  <param name="robot_description" textfile="$(find lwa_moveit_config)/config/lwa.urdf" />
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="false"/>
  </node>
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  <include file="$(find lwa_moveit_config)/launch/move_group.launch">
    <arg name="allow_trajectory_execution" value="false"/>
  </include>
  <include file="$(find lwa_moveit_config)/launch/moveit_rviz.launch"/>
</launch>

Hope it helps,

Boris