Fix gripper mimic joint control (for review before upstream PR) #1
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azazdeaz
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Aug 15, 2023
| @@ -78,6 +78,11 @@ | |||
| </inertial> | |||
| </link> | |||
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| <joint name="${name_joint_gripper_finger_b}_mimic" type="fixed"> | |||
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Maybe we should add a comment with a link to the issue where they explain this fix?
[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
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Fix for the broken mimic joint where only 1 of the 2 gripper finger would move.
The support for mimic has been fixed for some time with this PR ros-controls/gazebo_ros2_control#107 and it show that the mimic joint specification was missing from the ros2_control specification.
This is the first commit
However, while the gripper works with moveit2 after this first commit, a bunch of error messages are generated at runtime:
[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'
The second commit adds a dummy joint to prevent this, but this is only a workaround (suggested here: ).
There might be some more elegant solution and possible resolution is still discussed