specifying ur5 robot_description in moveit_commander.RobotCommander() initialization
I'm trying to specify the robot_description parameter in initializing the moveit_commander for my robot. As in the documentation the moveit_commander takes a robot_description, which I expect is a URDF file. Below is how I am attempting to do so:
desc = '/home/team-sewts/catkin_ws/src/fmauch_universal_robot/ur_description/urdf'
klaus_commander = moveit_commander.RobotCommander(robot_description = desc, ns = "klaus")
frank_commander = moveit_commander.RobotCommander(robot_description = desc, ns = "frank")
scene = moveit_commander.PlanningSceneInterface()
group_name = "manipulator" #manipulator in gazebo
klaus_group = moveit_commander.MoveGroupCommander(group_name, desc, "klaus")
frank_group = moveit_commander.MoveGroupCommander(group_name, desc, "frank")
However I am getting an error reading [ERROR] [1575984235.264155297]: Robot model parameter not found! Did you remap '/home/team-sewts/catkin_ws/src/fmauch_universal_robot/ur_description/urdf'?
. I am guessing that I am not specifying the urdf correctly - how can I do so for my moveit_commander? Full error output below, please let me know if anything else is needed.
team-sewts@sewts-Legion:~/catkin_ws/src/moveit_scripts$ python x2_coordinate_tester.py
Failed to import pyassimp, see https://github.com/ros-planning/moveit/issues/86 for more info
[ERROR] [1575984235.264155297]: Robot model parameter not found! Did you remap '/home/team-sewts/catkin_ws/src/fmauch_universal_robot/ur_description/urdf'?
Traceback (most recent call last):
File "x2_coordinate_tester.py", line 290, in <module>
main()
File "x2_coordinate_tester.py", line 266, in main
tutorial = MoveGroupPythonIntefaceTutorial()
File "x2_coordinate_tester.py", line 30, in __init__
klaus_commander = moveit_commander.RobotCommander(robot_description = desc, ns = "klaus")
File "/opt/ros/kinetic/lib/python2.7/dist-packages/moveit_commander/robot.py", line 151, in __init__
self._r = _moveit_robot_interface.RobotInterface(robot_description, ns)
RuntimeError: RobotInterfacePython: invalid robot model
team-sewts@sewts-Legion:~/catkin_ws/src/moveit_scripts$ python coordinate_tester.py
Failed to import pyassimp, see https://github.com/ros-planning/moveit/issues/86 for more info
[ERROR] [1576058021.474502119]: Robot model parameter not found! Did you remap '<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /home/team-sewts/catkin_ws/src/fmauch_universal_robot/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="ur5" xmlns:xacro="http://wiki.ros.org/xacro">
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="ros_control">
<!--robotNamespace>/</robotNamespace-->
<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
</plugin>
<!--
<plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
<chargeVoltage>16.41</chargeVoltage>
</plugin>
-->
</gazebo>
<!-- measured from model -->
<link name="base_link">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/base.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/base.stl"/>
</geometry>
</collision>
<inertial>
<mass value="4.0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0 ...