turtlebot3_manipulation
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[Simulation, Humble] Joint 'gripper_right_joint_mimic' not found in model 'turtlebot3_manipulation'
I want to simulate TB3-manipulation and followed the Humble instructions. I used:
ros2 launch turtlebot3_manipulation_bringup gazebo.launch.py
If I additionally:
ros2 launch turtlebot3_manipulation_moveit_config servo.launch.py
Then I get lot of:
[moveit_robot_model.robot_model]: Joint 'gripper_right_joint_mimic' not found in model 'turtlebot3_manipulation'
I can move the arm using _teleop
however the control buttons seem to be wrongly mapped. For example pressing joint1+
and then joint1-
does not return the arm to the original position.
Is this a bug or feature?
Probably related to https://github.com/ros-controls/gazebo_ros2_control/issues/173
https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/blob/3baa265d0f4843955ed77716be6f88b71689d7a1/turtlebot3_manipulation_description/urdf/open_manipulator_x.urdf.xacro#L210
(Update: see my next comment below)gripper_right_joint
=> gripper_right_joint_mimic
gets rid of the errors. I can create a PR if a maintainer acknowledges that this is the right fix.
Regarding the teleop issue: The described behavior still exists after the fix. Probably another issue.
My workaround led to a static right grip in Gazebo, so I added a dummy joint like shown in https://github.com/ros-controls/gazebo_ros2_control/issues/173:
<joint name="${prefix}gripper_right_joint_mimic" type="fixed">
<parent link="${prefix}link5" />
<child link="dummy_mimic_fix" />
</joint>
<link name="dummy_mimic_fix"/>
Also related: https://github.com/ros-controls/gz_ros2_control/issues/96. Probably better to wait for the resolution of this issue.
The source of the error is explained here in detail: https://robotics.stackexchange.com/questions/25107/ros2-moveit-cant-find-mimic-joint