MoveIt setup assistant
Hi, I'm trying to create a new definition of my robot with MoveIt wizard. The robot definitionis ok bu the EE has an hand and two prismatic fingers. If I use the "prismatic" tag in urdf.xacro definition this error appears:
The complete state of the robot is not yet known. Missing finger_joint1
The same error appears if I set it as revolute joint, but If it's a fixed joint this error doesn't appear.
<!-- Import Rviz colors -->
<xacro:include filename="$(find iiwa_description)/urdf/materials.xacro" />
<!--Import the iiwa7 macro -->
<xacro:include filename="$(find iiwa_description)/urdf/iiwa14.xacro"/>
<xacro:arg name="hardware_interface" default="PositionJointInterface"/>
<xacro:arg name="robot_name" default="iiwa"/>
<link name="world"/>
<gazebo reference="world">
<static>true</static>
</gazebo>
<!-- Here we insert an iiwa7 robot in the scene, it's origin is just on top of the box previously defined. You can use 0,0,0 if you don't have that. -->
<xacro:iiwa14 hardware_interface="$(arg hardware_interface)" robot_name="$(arg robot_name)" parent="world">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:iiwa14>
<!-- Tool properties -->
<property name="tool_mass" value="1.5" />
<property name="tool_joint_offset" value="0.00 0.00 0.00" />
<property name="tool_link_offset" value="0.00 0.00 0.1187" />
<property name="tool_link_rpy" value="${PI/2.0} ${PI} 0" />
<property name="tool_ee_offset" value="0.00 0.00 0.00" />
<!-- =================================================== -->
<joint name="tool_joint" type="fixed">
<parent link="iiwa_link_ee" />
<child link = "tool_link" />
<origin xyz="${tool_joint_offset}" rpy="0 0 0" />
</joint>
<link name="tool_link">
<visual>
<origin xyz="${tool_link_offset}" rpy="${tool_link_rpy}"/>
<geometry>
<mesh filename="file:///base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="White"/>
</visual>
<collision>
<origin xyz="${tool_link_offset}" rpy="${tool_link_rpy}"/>
<geometry>
<mesh filename="file:///base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="White"/>
</collision>
</link>
<!-- =================================================== -->
<joint name="tool_tip_joint" type="fixed">
<parent link="tool_link" />
<child link = "tool_link_ee" />
<origin xyz="${tool_ee_offset}" rpy="0 0 0" />
</joint>
<!-- The TCP frame is here defined -->
<link name="tool_link_ee">
<visual>
<origin xyz="${tool_link_offset}" rpy="${tool_link_rpy}"/>
<geometry>
<mesh filename="file:///tool_no_finger.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Green"/>
</visual>
<collision>
<origin xyz="${tool_link_offset}" rpy="${tool_link_rpy}"/>
<geometry>
<mesh filename="file:///tool_no_finger.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Green"/>
</collision>
</link>
<!-- =================================================== -->
<joint name="finger_joint_1" type="prismatic">
<parent link="tool_link_ee" />
<child link = "finger_link_1" />
<origin xyz="-0.015 0.00 0.00" rpy="0 0 0" />
<axis xyz="1 0 0"/>
<limit effort="20" lower="0.0" upper="0.015" velocity="0.2"/>
<dynamics damping="500.0" friction="0.0"/>
</joint>
<link name="finger_link_1">
<visual>
<origin xyz="${tool_link_offset}" rpy ...
As explained on Github already, this needs more information. Is the
finger_joint1
state being published, e.g. by a gripper driver? What does your URDF look like? What have you tried to solve the problem?You added the URDF, but what about the driver publishing that joint's state? Can you start up
roslaunch your_moveit_config demo.launch
? Does it work as expected?I've added in the post the urdf.xacro definition. What do you mean what "is the finger_joint1 state being published?"'
Yes, I can start up roslaunch iiwa_tool_moveit demo.launch and move finger_joint1 from rviz.
But the problem with roslaunch iiwa_tool_moveit moveit_planning_execution.launch still exists.
Did you define a planning group that includes
finger_joint1
?Yes, I've two planning group:
A question: when I declare the chain from iiwa_link_ee to tool_link_ee it cannot create the chain. Is it an issue because the last link has two childs (finger_link_1, finger_link_2)?
Can you post your SRDF as well please?