moveit2_tutorials demo.launch.py not working

[sjahr]

Description

Launch the demo.launch.py file fails probably due to an invalid parameter

Your environment

• ROS Distro: [Rolling]
• OS Version: Ubuntu 22.04
• Source or Binary build? Source
• If source, which git commit or tag? main 71ee840

Steps to reproduce

ros2 launch moveit2_tutorials demo.launch.py

Expected behaviour

Demo launches

Backtrace or Console output

^^/ws_moveit_tutorials >>> ros2 launch moveit2_tutorials demo.launch.py                                                                                                                                     11:58:58
[INFO] [launch]: All log files can be found below /home/sebastian/.ros/log/2023-11-30-11-58-59-792639-hedgehog12-180049
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Invalid parameter "isaac_joint_commands"

[dyackzan]

The main branch of ros2_kortex was recently updated to include some new arguments in the description macros for rendering the kinova and I'm guessing there is now a compatibility issue with the way the kinova is being launched here. I'll investigate, but a short term fix is to check out the commit with hash 740d21b5650a74104fb8c5afb56f7b6f055cdb83 in the ros2_kortex repo (the commit before the kinova macros were updated).

[dyackzan]

This breakage is due to the fact that we are pointing to the latest commits on the main branch in ros2_kortex which pass along the "isaac_joint_commands" parameter, but we are using outdated binaries for the robotiq_description package that are not compatible. The latest changes in the robotiq_description repo accept the "isaac_joint_commands" parameter, but the binaries do not have these changes. So we attempt to pass along an "isaac_joint_commands" parameter when loading the gripper in robotiq_2f_85_macro.urdf.xacro, to the old robotiq_description macro which does not accept the parameter and throws the error.

[Abishalini]

@dyackzan Adding the ros2_robotiq_gripper repo to my workspace makes the demo work. We can add the repo to the .repos file to fix this temporarily.

[varun7860]

It still doesn't work after adding ros2_robotiq_gripper. I am encountering error which says
"By not providing "Findserial.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "serial", but
CMake did not find one."

How to solve this?

[Abishalini]

@varun7860 You will have to clone the serial package to your workspace - https://github.com/tylerjw/serial/tree/ros2
Make sure you use the ros2 branch.

[Abishalini]

@varun7860 I have updated the .repos file so ros2_robotiq_gripper and serial will be cloned to your workspace - #826
Run vcs import src < src/moveit2_tutorials/moveit2_tutorials.repos and build again.

[dyackzan]

Closing since this is resolved by #826