pick_place_tutorial Error

[sm3304love]

Description

Overview of your issue here.

When the "pick place tutorial" is executed, the moment the gripper tries to pick up an object, the following error occurs.

sm3304love@sm3304love-AORUS-5-KB:~/ws_moveit$ rosrun moveit_tutorials pick_place_tutorial
[ INFO] [1637234143.240412042, 10.037000000]: Loading robot model 'panda'...
[ INFO] [1637234143.240956217, 10.037000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1637234144.229894697, 11.026000000]: Ready to take commands for planning group panda_arm.
[ WARN] [1637234152.123228467, 18.913000000]: Fail: ABORTED: Solution found but controller failed during execution
[ WARN] [1637234153.123990351, 19.913000000]: Fail: ABORTED: Must specify group in motion plan request

I create a package via setup_assistant, and followed all the procedures in the following link. What's wrong?
https://github.com/ros-planning/moveit_tutorials/blob/master/doc/gazebo_simulation/gazebo_simulation.rst

This is the git link with the xacro,urdf file I'm currently using.
https://github.com/sm3304love/ros_franka_discreption

Your environment

• ROS Distro: [melodic]
• OS Version: Ubuntu 18.04

Expected behaviour

Pick and place tutorial running normally

[welcome]

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

[rhaschke]

Looks like you didn't configure your controllers correctly. What's the content of your config/*_controllers.yaml?

[sm3304love]

Looks like you didn't configure your controllers correctly. What's the content of your config/*_controllers.yaml?

Do you mean ros_controllers.yaml?

In the link below, I added a package made with moveit setup assistance.
https://github.com/sm3304love/ros_franka_discreption

[rhaschke]

You are using franka_description's URDF.
Which version you are using? The latest version doesn't provide a file panda_arm_hand.urdf.xacro?!
Does Gazebo start a controller_manager? Check with:
rosservice list | grep controller_manager
If not, the URDF is probably missing this tag:

    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"/>
    </gazebo>

[sm3304love]

Because the most recent version, Franka_ros, does not provide panda_arm_hand.urdf.xacro, the file was imported from the 0.7.0 version.
When using the rosservice list | grep controller_manager command, ros_controller was not confirmed.

Is it right to add the content to the 'panda_arm_hand.urdf.xacro' file?

[rhaschke]

Because the most recent version, franka_ros, does not provide panda_arm_hand.urdf.xacro, the file was imported from 0.7.0.

Don't do this. Instead, apply #667.

[sm3304love]

Because the most recent version, franka_ros, does not provide panda_arm_hand.urdf.xacro, the file was imported from 0.7.0.

Don't do this. Instead, apply #667.

I understood. However, "https://github.com/ros-planning/moveit_tutorials/blob/master/doc/gazebo_simulation/gazebo_simulation.rst" explains based on panda_arm_hand.urdf.xacro. Is there any explanation for the latest version?

[rhaschke]

Not yet, but we are working on it. As the new version introduced several regressions, it's not that easy, unfortunately.

[sm3304love]

Okay. Then I have no choice but to wait. Thank you for your efforts.

[sm3304love]

Last question. Will it take a long time to complete it?

[rhaschke]

Just apply the patches from #667 for now and you should be fine.