Cannot launch gazebo bringup

[JuanCarlosHR2003]

I have been trying to use the Gazebo launcher, but the Franka robot cannot be visualized because Gazebo cannot load the .dae files from the franka_description package. All other packages work fine.

Gazebo version: 11.10.2
I will await your response, thank you.

[JuanCarlosHR2003]

I managed to visualize the Franka arm changing the utils.xacro. I changed the filename of the visual and collision meshes to "file://$(find franka_description)/meshes..."
However, when I try to visualize the robot end effector, I have the same problem. Even with the patch I used with the Franka arm, the problem persists.
Here is a photo of the log.

As well, an important detail to add is that I can visualize and control the robot end effector in RVIZ with no problems.

EDIT: I managed to visualize the FR3 with the Franka Hand in Gazebo. I just needed to change the filename directory in the utils.xacro and franka_hand.xacro, using the same solution as before (""file://$(find franka_description)/meshes..."). Still, I do not know if everything works as intended (i.e. collision).

[AndreasKuhner]

Hi @JuanCarlosHR2003 ,
what exactly did you change from what string to what other string?

Maybe you can also give us the version you are using + franka_ros2 version so that we could check. At least we didn't see any problems at the moment 😄

Cheers,
Andreas

[TianxiaoYee]

I have same problem. I am using libfranka 0.14.1 and ros2 humble

[PyoSH]

I also had same problem. (ubuntu 22.04 + ros2 humble + libfranka 0.14.1)
As @JuanCarlosHR2003 said, I changed file name in franka_description/robots/common/utils.xacro

origin) mesh filename="package://${description_pkg}/meshes/robot_arms/${arm_id}/visual/${name}.dae"
replace) mesh filename="file://$(find franka_description)/meshes/robot_arms/${arm_id}/visual/${name}.dae"

After with these replacement, do colcon build.

[AndreasKuhner]

Thanks @PyoSH for the input. I think we have a similar fix on its way... but not yet released.

Cheers,
Andreas