The beam_handling's discuss from shamilmamedov

beam_handling's Issues

Cannot find panda_arm_with_dyn_params.xacro

HI,

I am interested in this research and would like to run the code.
When running optimal_handling.py, js_opt_traj_4rviz.csv and js_opt_traj.csv are generated with dispalying Ipopt print, but he program stops with showing the following error.

redefining global symbol: pi
when processing file: /home/th1991-01/beam_handling-main/beam_handling_ws/src/bh_setup/urdf/setup_descr_pend_fixed.xacro
No such file or directory: /opt/ros/melodic/share/franka_description/robots/panda_arm_with_dyn_params.xacro [Errno 2] No such file or directory: u'/opt/ros/melodic/share/franka_description/robots/panda_arm_with_dyn_params.xacro'
when processing file: /home/th1991-01/beam_handling-main/beam_handling_ws/src/bh_setup/urdf/setup_descr_pend_fixed.xacro
RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '/home/th1991-01/beam_handling-main/beam_handling_ws/src/bh_setup/urdf/setup_descr_pend_fixed.xacro']] returned with code [2].
Param xml is <param command="$(find xacro)/xacro '$(find bh_setup)/urdf/setup_descr_pend_fixed.xacro'" name="robot_description"/>
The traceback for the exception was written to the log file

The error message seems to say that panda_arm_with_dyn_params.xacro is needed. but I cannot find it in this repository and https://github.com/frankaemika/franka_ros/tree/melodic-devel. Where can I get it?

Thanks in advance.

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