Joint 'joint_1' not found in model 'panda'
Helo,
Now I am currently follow the tutorial ( http://wiki.ros.org/Industrial/Tutori... )
when I run command
$roslaunch panda_moveit_config moveit_planning_execution.launch
it raise the error
Joint 'joint_1' not found in model 'panda'
according the tutorial, then I try to create the file panda_moveit_config/config/joint_names.yaml
and inside it:
controller_joint_names: ['panda_joint1','panda_joint2','panda_joint3','panda_joint4','panda_joint5','panda_joint6','panda_joint7']
and uncomment the line in moveit_planning_execution.launch.
but it still raise the same error? Can I get any help?
This is the part inside my panda.srdf.
<group name="panda_arm">
<joint name="virtual_joint"/>
<joint name="panda_joint1"/>
<joint name="panda_joint2"/>
<joint name="panda_joint3"/>
<joint name="panda_joint4"/>
<joint name="panda_joint5"/>
<joint name="panda_joint6"/>
<joint name="panda_joint7"/>
<joint name="panda_joint8"/>
</group>
<group name="hand">
<joint name="panda_hand_joint"/>
<joint name="panda_finger_joint1"/>
<joint name="panda_finger_joint2"/>
</group>
<group_state name="home_origin" group="panda_arm">
<joint name="panda_joint1" value="0.3184"/>
<joint name="panda_joint2" value="0.4068"/>
<joint name="panda_joint3" value="-2.8973"/>
<joint name="panda_joint4" value="-3.0718"/>
<joint name="panda_joint5" value="2.8973"/>
<joint name="panda_joint6" value="1.9918"/>
<joint name="panda_joint7" value="0.8596"/>
</group_state>
Thanks.
The error tells you that your renaming didn't work. Is your controller_joint_names on a different line as
controller_joint_names:? Also, is it working fine if you rename your joint in your srdf to match the standard names ?Finally have you tried like the other link given in your tutorial to set this parameter before calling everything else ?
@Delb: the Panda uses
franka_rosas a driver, notindustrial_robot_client. It doesn't do anything withcontroller_joint_names.@Delb: I try to set the parameter following the set up but still have errors.
@gvdhoorn: So to solve this error? Which file should I edit?
I don't know. I've not looked into your problem. I just wanted to clarify the situation with
controller_joint_names.@Delb: I solved it follow your solution. The problem is I type in the same line so it cause the error. Besides, may I double confirm with you which joints should I include in my controller_joint_names?
According to the tutorial you should provide all the joints from the base to the end effector, in the right order (starting from the base).
@Delb: Noted! Thx for the help :)