Joint not found while trying controlling robotiq_2finger_gripper
Hello,
I am new to ROS and trying to control the robotiq_2finger_gripper which I have attached to a very simple robot arm I made. The robot consists of 2 spherical and one revolute joint with the gripper at the very end. To attach the gripper, I just added the URDF lines of the gripper to the end of my URDF file and attached the last link to the gripper_base_joint. This is my URDF file
<robot <a="" href="http://xmlns:xacro="http://www.ros.org/wiki/xacro%22" name="pend_bot">xmlns:xacro="http://www.ros.org/wiki/...></robot>
<!-- <xacro:include filename="$(find robot)/urdf/my_robot.gazebo" /> -->
<!-- <xacro:include filename="$(find robot)/urdf/materials.xacro" /> -->
<!-- <robot name="pendulum_robot"> -->
<link name="world">
</link>
<joint name="base_joint" type="fixed">
<parent link="world"/>
<child link="body_link"/>
<axis xyz="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</joint>
<!-- First Link -->
<link name="body_link">
<visual>
<origin xyz="0 0 0.5" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 1.0"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0.5" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 1.0"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0.5" rpy="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.08417" ixy="0.0" ixz="0.0" iyy="0.08417" iyz="0.0" izz="0.001666667"/>
</inertial>
</link>
<!-- Shoulder Joint -->
<joint name="shoulder_y" type="revolute">
<parent link="body_link"/>
<child link="dummy_link_1"/>
<axis xyz="0 1 0" />
<origin xyz="0.0 0 1.05" rpy="0 0 0"/>
<limit effort="500" velocity="2.0" lower="-3.14" upper="3.14"/>
<!-- <dynamics damping="0.2"/> -->
</joint>
<link name="dummy_link_1">
<inertial>
<mass value="0.025" />
<inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4" />
</inertial>
</link>
<joint name="shoulder_z" type="revolute">
<parent link="dummy_link_1"/>
<child link="dummy_link_2"/>
<axis xyz="0 0 1" />
<!-- <dynamics damping="0.2"/> -->
<limit effort="500" velocity="2.0" lower="-3.14" upper="3.14"/>
</joint>
<link name="dummy_link_2">
<inertial>
<mass value="0.025" />
<inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4" />
</inertial>
</link>
<joint name="shoulder_x" type="revolute">
<parent link="dummy_link_2"/>
<child link="bicep_link"/>
<axis xyz="1 0 0" />
<!-- <dynamics damping="0.2"/> -->
<limit effort="500" velocity="2.0" lower="-3.14" upper="3.14"/>
</joint>
<!-- Bicep Link-->
<link name="bicep_link">
<!-- <pose>0 0 0 0 0 0</pose> -->
<visual>
<origin xyz="0 0 0.275 ...