Fix access to panda urdf

[rhaschke]

With franka_description 0.8, panda_arm_hand.urdf.xacro was renamed to panda_arm.urdf.xacro with a hand argument.
@rickstaa

[rhaschke]

This needs to be back-ported to melodic as well.

[v4hn]

Did you test the actual tutorials with the new description?
Without this patch people can at least use the old release and it should work out of the box, and we are aware of multiple issues with the new release...

If the tutorials still behave correctly with the new version, I'm happy to merge this.

[rhaschke]

I think @rickstaa is in the process of testing the tutorials and adapting both panda_moveit_config and the tutorials.
The key point is that the new franka_description is released into Melodic and Noetic. That is, people stumble over this issue (see #666). If you want to make people use the old release, we should add a corresponding note to the tutorials to fetch franka_description from source.

[rickstaa]

@rhaschke Is correct. I already some tutorials with the new description. I am currently implementing the last changes that are needed for the release of the Noetic branch of the panda_moveit_config. moveit/panda_moveit_config#74 (comment) will help this process forward.

I will apply the changes requested in this comment later this week. After that, I will re-test the new implementation and display the results to #667.

[Abdul1ahAynal1]

Hi, I am trying to launch
roslaunch moveit_tutorials visualizing_collisions_tutorial.launch
I sourced packages properly however I get the error
RLException: [visualizing_collisions_tutorial.launch] is neither a launch file in package [moveit_tutorials] nor is [moveit_tutorials] a launch file name The traceback for the exception was written to the log file
I checked the launch file to make the required changes but my launch file doesn't have the line starting with param if, instead mine have <param name="robot_description" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro' hand:=true" />

How can I fix this problem?

[rhaschke]

Closing this issue as being addressed in #715.

@Abdul1ahAynal1, you have a completely different problem. Probably you didn't source your catkin workspace comprising moveit_tutorials. I don't have a problem running
roslaunch moveit_tutorials visualizing_collisions_tutorial.launch

You will additionally need #746 as Franka people again changed file names...