[Simulation, Humble] Joint 'gripper_right_joint_mimic' not found in model 'turtlebot3_manipulation'

[goekce]

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?

[goekce]

Probably related to ros-controls/gazebo_ros2_control#173

[goekce]

turtlebot3_manipulation/turtlebot3_manipulation_description/urdf/open_manipulator_x.urdf.xacro

Line 210 in 3baa265

<joint name="${prefix}gripper_right_joint" type="prismatic">

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. (Update: see my next comment below)

Regarding the teleop issue: The described behavior still exists after the fix. Probably another issue.

[goekce]

My workaround led to a static right grip in Gazebo, so I added a dummy joint like shown in ros-controls/gazebo_ros2_control#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: ros-controls/gz_ros2_control#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

[chengke-codes]

Thank @goekce so much for the solution. For anyone need help with this issue

To edit turtlebot3_manipulation/turtlebot3_manipulation_description/urdf/open_manipulator_x.urdf.xacro

<joint name="${prefix}gripper_right_joint" type="prismatic">
   ...
</joint>
<joint name="${prefix}gripper_right_joint_mimic" type="fixed">
  <parent link="${prefix}link5" />
  <child link="dummy_mimic_fix" />
</joint>
<link name="dummy_mimic_fix"/>