harrycomeon / ur5-gazebo-grasping Goto Github PK

/home/zh/harry_ws/src/robotiq_85_gripper/robotiq_85_simulation/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp: In member function ‘void gazebo::MimicJointPlugin::UpdateChild()’:
/home/zh/harry_ws/src/robotiq_85_gripper/robotiq_85_simulation/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp:151:39: error: ‘class gazebo::physics::World’ has no member named ‘Physics’
static ros::Duration period(world_->Physics()->GetMaxStepSize());
^
/home/zh/harry_ws/src/robotiq_85_gripper/robotiq_85_simulation/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp:154:26: error: ‘class gazebo::physics::Joint’ has no member named ‘Position’
double angle = joint_->Position(0)*multiplier_+offset_;
^
/home/zh/harry_ws/src/robotiq_85_gripper/robotiq_85_simulation/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp:156:30: error: ‘class gazebo::physics::Joint’ has no member named ‘Position’
if(abs(angle-mimic_joint_->Position(0))>=sensitiveness_)
^
/home/zh/harry_ws/src/robotiq_85_gripper/robotiq_85_simulation/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp:160:32: error: ‘class gazebo::physics::Joint’ has no member named ‘Position’
double a = mimic_joint_->Position(0);

求解答，谢谢

你好，README中的第一个连接失效了，404 not found

您好，我每次运行rosrun ur5_single_arm_manipulation grasping_demo.py都会卡死，换文件夹下其他的py文件也是。
the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
[ WARN] [1624113701.836425016]: Link 'robot_pilar' is not known to URDF. Cannot disable collisons.
[ WARN] [1624113701.836779681]: Link 'robot_pilar' is not known to URDF. Cannot disable collisons.
[ INFO] [1624113701.836934609]: Loading robot model 'ur5'...
[ INFO] [1624113701.837007539]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1624113702.547172513]: Link 'robot_pilar' is not known to URDF. Cannot disable collisons.
[ WARN] [1624113702.547465588]: Link 'robot_pilar' is not known to URDF. Cannot disable collisons.
[ INFO] [1624113702.547828067]: Loading robot model 'ur5'...
[ INFO] [1624113702.547941840]: No root/virtual joint specified in SRDF. Assuming fixed joint
求解，谢谢！

你好，boy，还是我，我在运行ur5_single_arm_manipulation里面的pick_and_place.py文件时，出现了ImportError: No module named moveit_simple_grasps.msg这个错误，我发现应该是没有这个包所导致的，但是众观全网，也没有发现kinetic版本的包。不知道兄弟你当初时怎么解决这个问题的。还是你不是kinetic版本的？？

When I take the command "roslaunch ur5_single_arm_tufts ur5_single_arm_gazebo.launch", the command line give me the output below:
[ INFO] [1622535763.387034457, 3.521000000]: Loading robot model 'ur5'...
[ INFO] [1622535763.387058850, 3.521000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1622535764.300713088, 4.421000000]: Starting scene monitor
[ INFO] [1622535764.305208269, 4.425000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1622535764.306388092, 4.426000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ WARN] [1622535764.923879761, 5.039000000]: Waiting for arm_controller/follow_joint_trajectory to come up
[ INFO] [1622535769.320063014, 9.354000000]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.18/planning_scene_monitor/src/planning_scene_monitor.cpp:491
[ INFO] [1622535770.479588111, 10.497000000]: No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1622535770.482129491, 10.499000000]: Constructing new MoveGroup connection for group 'gripper' in namespace ''
[ WARN] [1622535771.040226375, 11.040000000]: Waiting for arm_controller/follow_joint_trajectory to come up
[ERROR] [1622535777.114531314, 17.041000000]: Action client not connected: arm_controller/follow_joint_trajectory
[ WARN] [1622535782.215662905, 22.078000000]: Waiting for gripper/follow_joint_trajectory to come up
[ WARN] [1622535788.309799365, 28.078000000]: Waiting for gripper/follow_joint_trajectory to come up
[ERROR] [1622535794.417025656, 34.081000000]: Action client not connected: gripper/follow_joint_trajectory

[Err] [GazeboGraspGripper.cpp:60] GazeboGraspGripper: Palm link ee_link not found. The gazebo grasp plugin will not work.
[Err] [GazeboGraspFix.cpp:175] GazeboGraspFix: Could not initialize arm gripper_arm. Skipping.
[Err] [GazeboGraspFix.cpp:198] ERROR: GazeboGraspFix: Cannot use a GazeboGraspFix because no arms were configured successfully. Plugin will not work.

您好，robotiq_85_gripper 链接失效了