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roslaunch panda_moveit_config demo.launch rviz_tutorial:=true is not working

asked 2021-08-23 19:54:12 -0600

Donjaga gravatar image

updated 2021-08-24 19:24:17 -0600

jayess gravatar image

I have used moveit_turorials 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/franka_description/robots/panda_arm_hand.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 ...
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Comments

1

In your File Availability output block, panda_arm_hand.urdf.xacro is not listed.

k2108 gravatar image k2108  ( 2021-08-23 22:47:41 -0600 )edit

YES, I got it now! Thanks, I thought "panda_arm_hand.urdf.xacro" was there. moveit_tutorials should change their executing script.

Donjaga gravatar image Donjaga  ( 2021-08-24 10:26:43 -0600 )edit

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.

Shivam gravatar image Shivam  ( 2021-10-09 18:49:05 -0600 )edit

1 Answer

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answered 2021-08-29 14:22:57 -0600

Donjaga gravatar image

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
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Comments

It works but this will not give us the hand of the robot. It will only give the arm.

Shivam gravatar image Shivam  ( 2021-10-09 18:47:12 -0600 )edit

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Asked: 2021-08-23 19:54:12 -0600

Seen: 181 times

Last updated: Aug 29