failed to lunch this command

asked 2021-08-22 22:04:56 -0500

nizar00
17 ●6 ●12 ●10

updated 2023-06-10 06:00:31 -0500

130s

10937 ●203 ●339 ●330 http://www.linkedin.co...

when i try this command : roslaunch panda_moveit_config demo.launch rviz_tutorial:=true

i get this error :

No such file or directory: /opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro [Errno 2] No such file or directory: '/opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro'
RLException: while processing /home/chizu/ws_moveit/src/panda_moveit_config/launch/planning_context.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '/opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro']] returned with code [2]. 

Param xml is <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'"/>
The traceback for the exception was written to the log file

answered 2021-08-25 06:09:36 -0500

rizgiak
106 ●2 ●3 ●3

As written in CHANGELOG in franka_ros (0.8.0 - 2021-08-03):

BREAKING Remove panda_arm_hand.urdf.xacro. Use panda_arm.urdf.xacro hand:=true instead.

you should change line in

/home/chizu/ws_moveit/src/panda_moveit_config/launch/planning_context.launch

which previously written as:

<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'"/>

become,

<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"/>