panda_ros_controllers.yaml is broken

[tylerjw]

panda_ros_controllers.yaml is broken in the released version of Foxy which impacts the tutorial. You get a bunch of errors about a missing type for panda_hand_controller.

If you go ahead and build this package from source and install the package position_controllers you get a new issue where it complains about position_controllers/GripperActionController not existing. As far as I can tell that's not a controller in the position_controllers package from ros2_control. If I change it to the one type that is in there: position_controllers/JointGroupPositionController and the joints lines below like this to get it to initialize:

panda_hand_controller:
  ros__parameters:
    joints:
      - panda_finger_joint1

I then get this error from the rviz demo tutorial:

[move_group-4] [WARN] [1628822734.178116054] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for panda_hand_controller/gripper_cmd to come up
[move_group-4] [ERROR] [1628822739.178241544] [moveit.simple_controller_manager.gripper_controller_handle]: Action client not connected: panda_hand_controller/gripper_cmd

[gautz]

I guess this is somehow related. Running ros2 launch run_move_group run_move_group.launch.py or ros2 launch run_ompl_constrained_planning run_move_group.launch.py
The robot is not loaded/visualized, and I get following errors:

[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occured with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-1]          at line 253 in /opt/ros/foxy/include/class_loader/class_loader_core.hpp
[rviz2-1] [ERROR] [1629383113.332625220] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] [INFO] [1629383113.378752924] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00209632 seconds
[rviz2-1] [INFO] [1629383113.378909817] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] [INFO] [1629383114.069414164] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00237263 seconds
[rviz2-1] [INFO] [1629383114.069418161] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00235955 seconds
[rviz2-1] [INFO] [1629383114.069489442] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [INFO] [1629383114.069497087] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [ERROR] [1629383114.077974752] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_planning.joint_limits.virtual_joint/trans_x.max_position' has already been declared
[rviz2-1] [ERROR] [1629383114.081777238] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_planning.joint_limits.panda_joint1.max_velocity' has invalid type: expected [double] got [string]
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] [INFO] [1629383209.639087788] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00323601 seconds
[rviz2-1] [INFO] [1629383209.639175880] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [ERROR] [1629383209.662897524] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_planning.joint_limits.panda_joint1.max_velocity' has invalid type: expected [double] got [string]
[rviz2-1] Parsing robot urdf xml string.
[rviz2-1] [INFO] [1629383213.635643697] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00120975 seconds
[rviz2-1] [INFO] [1629383213.635683240] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [ERROR] [1629383213.648003489] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_planning.joint_limits.panda_joint1.max_velocity' has invalid type: expected [double] got [string]

Note that ros2 launch run_moveit_cpp run_moveit_cpp.launch.py is running properly.

[gautz]

see maybe moveit/panda_moveit_config#83 and frankaemika/franka_ros#148