Ros node unable to see robot_description_semantic parameter about universal_robots_ros2_driver

[Payday02]

Another note, a python node using the moveit2 python api for the same thing exhibits the same behavior

[Payday02]

For some reason the C++ node for moveit will work when handed the information through a launch file, even though the python will not. I don't believe this should be necessary overall since the demo nodes for moveit do not require this but as I have a workaround this is no longer a pressing issue for me.

[fmauch]

As you wrote above, it is required to pass the respective parameters to the arm_server node, as well.

Since this is more of a MoveIt usage issue I'll close this issue. Please keep in mind that the moveit_config from this repo is merely an example. For real-world applications you should create your own moveit_config package containing your actual configuration.

[mfacton]

I'm also facing this same issue

[Payday02]

As mentioned above, the solution for me was to create a launchfile that passes the relevant information to a cpp node, even though this was not necessary for the moveit2 tutorial example. For me this didn't matter much since I was going to be creating a larger launchfile anyway to launch the driver, moveit, and a couple of custom nodes all at once. Here is an example launchfile that worked for me if this would help you.

import launch
import os
import sys

from launch_ros.actions import Node
from launch.substitutions import PathJoinSubstitution, Command, FindExecutable
from launch_ros.substitutions import FindPackageShare

def get_robot_description():
    joint_limit_params = PathJoinSubstitution(
        [FindPackageShare("ur_description"), "config", "ur3e", "joint_limits.yaml"]
    )
    kinematics_params = PathJoinSubstitution(
        [FindPackageShare("ur_description"), "config", "ur3e", "default_kinematics.yaml"]
    )
    physical_params = PathJoinSubstitution(
        [FindPackageShare("ur_description"), "config", "ur3e", "physical_parameters.yaml"]
    )
    visual_params = PathJoinSubstitution(
        [FindPackageShare("ur_description"), "config", "ur3e", "visual_parameters.yaml"]
    )
    robot_description_content = Command(
        [
            PathJoinSubstitution([FindExecutable(name="xacro")]),
            " ",
            PathJoinSubstitution([FindPackageShare("ur_description"), "urdf", "ur.urdf.xacro"]),
            " ",
            "robot_ip:=172.17.0.2",
            " ",
            "joint_limit_params:=",
            joint_limit_params,
            " ",
            "kinematics_params:=",
            kinematics_params,
            " ",
            "physical_params:=",
            physical_params,
            " ",
            "visual_params:=",
            visual_params,
            " ",
           "safety_limits:=",
            "true",
            " ",
            "safety_pos_margin:=",
            "0.15",
            " ",
            "safety_k_position:=",
            "20",
            " ",
            "name:=",
            "ur",
            " ",
            "ur_type:=",
            "ur3e",
            " ",
            "prefix:=",
            '""',
            " ",
        ]
    )


    robot_description = {"robot_description": robot_description_content}
    return robot_description

def get_robot_description_semantic():
    # MoveIt Configuration
    robot_description_semantic_content = Command(
        [
            PathJoinSubstitution([FindExecutable(name="xacro")]),
            " ",
            PathJoinSubstitution([FindPackageShare("ur_moveit_config"), "srdf", "ur.srdf.xacro"]),
            " ",
            "name:=",
            # Also ur_type parameter could be used but then the planning group names in yaml
            # configs has to be updated!
            "ur",
            " ",
            "prefix:=",
            '""',
            " ",
        ]
    )
    robot_description_semantic = {
        "robot_description_semantic": robot_description_semantic_content
    }
    return robot_description_semantic

def generate_launch_description():
    # generate_common_hybrid_launch_description() returns a list of nodes to launch
    robot_description = get_robot_description()
    robot_description_semantic = get_robot_description_semantic()
    demo_node = Node(
        package="arm_server",
        executable="arm_server",
        name="arm_server",
        output="screen",
        parameters=[
            robot_description,
            robot_description_semantic,
        ],
    )

    return launch.LaunchDescription([demo_node])