Problems with RViz and Gazebo (MoveIt pick and place tutorial)

asked 2022-05-25 02:58:59 -0500

LuisEFA1998 gravatar image

I am trying to replicate this MoveIt tutorial with my own robot (a KUKA KR5 manipulator), when I run the code only with RViz the robot moves without any problem and executes the pick and place operation, but when I do the simultaneous simulation with Gazebo the robot starts to move and out of nowhere "explodes", just after that the following appears in the terminal:

image description

image description

Apparently there is a bug with one of the fingers of the end effector, but I don't understand exactly what the problem is. The simulators stay the same as in the image below after my code dies (the finger stays flying).

image description

Does anyone know what is causing this error? Do I have to modify something in my URDF file or some other file that MoveIt Setup Assistant generates? This is my first time using an end effector.

edit retag flag offensive close merge delete


Did you followed thisLink for Gazebo Integration?

Dhara gravatar image Dhara  ( 2022-05-25 08:22:22 -0500 )edit