roslaunch panda_moveit_config demo.launch rviz_tutorial:=true is not working
I have used moveitturorials in my Ubuntu LTS 20.4 with ROS noetic without an issue for a while but suddenly occurred an error which stating there is no "/opt/ros/noetic/share/frankadescription/robots/pandaarmhand.urdf.xacro " but when looked for the file it does exists. I even tried to remove and reinstall ROS as well as movit the same error comes finally I removed and reinstalled the entire ubuntu 20.4 LTS but still aster fresh start I'm receiving the save error.
I have properly sourced the "source ~/ws_moveit/devel/setup.bash"
~/ws_moveit/src$ roslaunch panda_moveit_config demo.launch rviz_tutorial:=true
... logging to /home/don/.ros/log/54180f8c-046f-11ec-8eab-0dbc11f3bdf1/roslaunch-don-39428.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
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/don/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
File Avalability
don@don:/opt/ros/noetic/share/franka_description/robots$ ls
dual_panda_example.urdf.xacro hand.urdf.xacro hand.xacro panda_arm.urdf.xacro panda_arm.xacro panda_gazebo.xacro utils.xacro
PS - my catkin Builds perfectly
don@don:~/ws_moveit/src$ catkin build
--------------------------------------------------------
Profile: default
Extending: [explicit] /opt/ros/noetic
Workspace: /home/don/ws_moveit
--------------------------------------------------------
Build Space: [exists] /home/don/ws_moveit/build
Devel Space: [exists] /home/don/ws_moveit/devel
Install Space: [unused] /home/don/ws_moveit/install
Log Space: [exists] /home/don/ws_moveit/logs
Source Space: [exists] /home/don/ws_moveit/src
DESTDIR: [unused] None
--------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
--------------------------------------------------------
Additional CMake Args: -DCMAKE_BUILD_TYPE=Release
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
--------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
--------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------
[build] Found '45' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> geometric_shapes
Starting >>> moveit_msgs
Starting >>> moveit_resources_fanuc_description
Starting >>> moveit_resources_panda_description
Starting >>> moveit_resources_pr2_description
Starting >>> moveit_resources_prbt_support
Starting >>> rviz_visual_tools
Finished <<< moveit_resources_panda_description [ 0.1 seconds ]
Starting >>> moveit_resources_panda_moveit_config
Finished <<< geometric_shapes [ 0.1 seconds ]
Finished <<< moveit_resources_prbt_support [ 0.1 seconds ]
Finished <<< moveit_resources_fanuc_description [ 0.2 seconds ]
Starting >>> moveit_resources_fanuc_moveit_config
Finished <<< moveit_resources_pr2_description [ 0.2 seconds ]
Finished <<< moveit_resources_panda_moveit_config [ 0.2 seconds ]
Finished <<< rviz_visual_tools [ 0.6 seconds ]
Finished <<< moveit_resources_fanuc_moveit_config [ 0.2 seconds ]
Starting >>> moveit_resources
Finished <<< moveit_resources [ 0.2 seconds ]
Finished <<< moveit_msgs [ 1.3 seconds ]
Starting >>> moveit_core
Finished <<< moveit_core [ 0.6 seconds ]
Starting >>> chomp_motion_planner
Starting >>> moveit_resources_prbt_ikfast_manipulator_plugin
Starting >>> moveit_ros_occupancy_map_monitor
Starting >>> moveit_simple_controller_manager
Finished <<< moveit_resources_prbt_ikfast_manipulator_plugin [ 0.1 seconds ]
Starting >>> moveit_resources_prbt_moveit_config
Finished <<< chomp_motion_planner [ 0.2 seconds ]
Starting >>> moveit_chomp_optimizer_adapter
Finished <<< moveit_ros_occupancy_map_monitor [ 0.2 seconds ]
Starting >>> moveit_ros_planning
Finished <<< moveit_simple_controller_manager [ 0.1 seconds ]
Starting >>> moveit_ros_control_interface
Finished <<< moveit_resources_prbt_moveit_config [ 0.1 seconds ]
Starting >>> moveit_resources_prbt_pg70_support
Finished <<< moveit_chomp_optimizer_adapter [ 0.1 seconds ]
Finished <<< moveit_ros_control_interface [ 0.2 seconds ]
Finished <<< moveit_resources_prbt_pg70_support [ 0.2 seconds ]
Finished <<< moveit_ros_planning [ 0.5 seconds ]
Starting >>> moveit_fake_controller_manager
Starting >>> moveit_kinematics
Starting >>> moveit_planners_ompl
Starting >>> moveit_ros_perception
Starting >>> moveit_ros_robot_interaction
Starting >>> moveit_ros_warehouse
Starting >>> moveit_visual_tools
Finished <<< moveit_kinematics [ 0.2 seconds ]
Starting >>> moveit_ros_move_group
Finished <<< moveit_fake_controller_manager [ 0.1 seconds ]
Starting >>> moveit_plugins
Finished <<< moveit_planners_ompl [ 0.2 seconds ]
Finished <<< moveit_visual_tools [ 0.2 seconds ]
Finished <<< moveit_ros_warehouse [ 0.2 seconds ]
Starting >>> moveit_ros_benchmarks
Finished <<< moveit_ros_robot_interaction [ 0.2 seconds ]
Finished <<< moveit_plugins [ 0.2 seconds ]
Finished <<< moveit_ros_perception [ 0.6 seconds ]
Finished <<< moveit_ros_benchmarks [ 0.3 seconds ]
Finished <<< moveit_ros_move_group [ 0.6 seconds ]
Starting >>> moveit_ros_manipulation
Finished <<< moveit_ros_manipulation [ 0.2 seconds ]
Starting >>> moveit_ros_planning_interface
Finished <<< moveit_ros_planning_interface [ 0.4 seconds ]
Starting >>> moveit_commander
Starting >>> moveit_planners_chomp
Starting >>> moveit_ros_visualization
Starting >>> moveit_servo
Finished <<< moveit_commander [ 0.2 seconds ]
Starting >>> pilz_industrial_motion_planner_testutils
Finished <<< moveit_servo [ 0.5 seconds ]
Finished <<< moveit_planners_chomp [ 0.2 seconds ]
Starting >>> moveit_planners
Finished <<< moveit_planners [ 0.2 seconds ]
Finished <<< moveit_ros_visualization [ 0.7 seconds ]
Starting >>> moveit_ros
Starting >>> moveit_runtime
Starting >>> moveit_setup_assistant
Starting >>> panda_moveit_config
Finished <<< pilz_industrial_motion_planner_testutils [ 0.4 seconds ]
Starting >>> pilz_industrial_motion_planner
Finished <<< panda_moveit_config [ 0.1 seconds ]
Starting >>> moveit_tutorials
Finished <<< moveit_runtime [ 0.1 seconds ]
Finished <<< moveit_ros [ 0.1 seconds ]
Finished <<< moveit_setup_assistant [ 0.4 seconds ]
Starting >>> moveit
Finished <<< moveit [ 0.2 seconds ]
Finished <<< moveit_tutorials [ 0.4 seconds ]
Finished <<< pilz_industrial_motion_planner [ 0.5 seconds ]
[build] Summary: All 45 packages succeeded!
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 6.5 seconds total.
Asked by Donjaga on 2021-08-23 19:54:12 UTC
Answers
The following Solution from users-rizgiak worked for me!!
Remove panda_arm_hand.urdf.xacro changed to panda_arm.urdf.xacro.
find the file from
don@don:~/ws_moveit/src/panda_moveit_config/launch$ ls chomp_planning_pipeline.launch.xml default_warehouse_db.launch demo_chomp.launch demo.launch fake_moveit_controller_manager.launch.xml joystick_control.launch lerp_planning_pipeline.launch.xml move_group.launch moveit_empty.rviz moveit.rviz moveit_rviz.launch ompl-chomp_planning_pipeline.launch.xml ompl_planning_pipeline.launch.xml panda_control_moveit_rviz.launch panda_gripper_moveit_controller_manager.launch.xml panda_moveit_controller_manager.launch.xml panda_moveit.launch panda_moveit_sensor_manager.launch.xml planning_context.launch planning_pipeline.launch.xml run_benchmark_ompl.launch run_benchmark_trajopt.launch sensor_manager.launch.xml setup_assistant.launch stomp_planning_pipeline.launch.xml trajectory_execution.launch.xml trajopt_planning_pipeline.launch.xml warehouse.launch warehouse_settings.launch.xml
Then use nano or vim to edit the line
//
don@don:~/ws_moveit/src/panda_moveit_config/launch$ sudo nano planning_context.launch
//
in the file change line
<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'"/>
to
<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"/>
Then overwrite
After saving the file use catkin build and launch the moveit using the command.
roslaunch panda_moveit_config demo.launch rviz_tutorial:=true
Asked by Donjaga on 2021-08-29 14:22:57 UTC
Comments
It works but this will not give us the hand of the robot. It will only give the arm.
Asked by Shivam on 2021-10-09 18:47:12 UTC
Comments
In your File Availability output block, panda_arm_hand.urdf.xacro is not listed.
Asked by k2108 on 2021-08-23 22:47:41 UTC
YES, I got it now! Thanks, I thought "panda_arm_hand.urdf.xacro" was there. moveit_tutorials should change their executing script.
Asked by Donjaga on 2021-08-24 10:26:43 UTC
How to get the "panda_arm_hand.urdf.xacro" file? I am following a tutorial which requires this file. I am facing the same problem you faced.
Asked by Shivam on 2021-10-09 18:49:05 UTC