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"_mimic" joint interface name suffix causes Moveit2 "Joint not found" Error #173
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Hi i have the same issue, although it is a dumb fix it works for suppressing Move_group error. You can add the following lines to your robot.urdf generated by MoveIt.
In my case, the "panda_finger_joint2" is the mimicked joint that MoveIt moves. |
I agree it's not intuitive to add that suffix.
…On Fri, 5 May 2023, 15:18 miso037, ***@***.***> wrote:
Hi i have the same issue, although it is a dumb fix it works for
suppressing Move_group error. You can add the following lines to your
robot.urdf generated by MoveIt.
In my case, the "panda_finger_joint2" is the mimicked joint that MoveIt
moves.
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[move_group-3] [ERROR] [1692102600.709104192] [moveit_robot_model.robot_model]: Joint 'crane_x7_gripper_finger_b_joint_mimic' not found in model 'crane_x7' See ros-controls/gazebo_ros2_control#173
[move_group-3] [ERROR] [1692102600.709104192] [moveit_robot_model.robot_model]: Joint 'crane_x7_gripper_finger_b_joint_mimic' not found in model 'crane_x7' See ros-controls/gazebo_ros2_control#173
* Fix gripper mimic joint control * Add dummy joint to prevent Joint not found error [move_group-3] [ERROR] [1692102600.709104192] [moveit_robot_model.robot_model]: Joint 'crane_x7_gripper_finger_b_joint_mimic' not found in model 'crane_x7' See ros-controls/gazebo_ros2_control#173
Today I faced same issue. Adding this suffix implicitly it's not intuitive. I removed adding this suffix from plugin and then launched simulation, everything seems to work just fine (gazebo, rviz and moveit). Is it necessary? If it is, some logs should be printed to make it more explicite. |
Is the mimic joint suffix that gets added to interface names (here) necessary? If so, what is its intent? I can't find anything in the
ros2_control
source code that is expecting a mimic suffix, but maybe I'm not looking in the right place.I suppose it makes the output of services like
list_hardware_interfaces
a bit more verbose/explicit, but I'd argue that the onus should be on the URDF designer to decide whether the joint is named as a "mimic" in the name or not. As an aside, perhaps on the command interfaces output,[mimic]
might be more appropriate than[unclaimed]
and this is where that added string could go.I ask because I was trying to control a robot that had mimic joints with Moveit, simulated in gazebo, the Moveit RobotModel implementation complains loudly that
Joint 'joint_name_mimic' not found in model 'model_name'
, seemingly because theGazeboSystem
hardware_interface
assigns a new name to the joint that doesn't exist in the URDF/SRDF/yaml config files. It took me longer than I'd like to admit that the source of the error wasgazebo_ros2_control
's change and not a mistake that I had made in one of the description files.Commenting out the "_mimic" suffix doesn't appear to break anything, and allows Moveit to function as expected.
Thanks in advance for any feedback/insights!
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