iiwa14 with robotiq hand_e

[Miftahur92]

I am trying to create a use a robotiq hande gripper with iiwa14. I have used the iiwa14 urdf file provided in this package. I have create robotiq hande description packages and control packages. When I run the robotiq hande gipper packages alone without attaching it to iiwa14 URDF, it runs perfectly fine (image attached) But when I added the gripper URDF in the iiwa14 URDF, I can only see the gripper base link. Rviz shows an error that the there is no joint between the fingers and the gripper base (image attached)

This is the modified iiwa14 URDF: `

<!-- include the lbr iiwa macro -->
<xacro:include filename="$(find lbr_description)/urdf/iiwa14/iiwa14_description.xacro" />

<xacro:arg name="robot_name" default="lbr" />
<xacro:arg name="sim" default="true" />
<xacro:arg
    name="system_parameters_path"
    default="$(find lbr_ros2_control)/config/lbr_system_parameters.yaml" />

<!-- fixed to world, see http://classic.gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros -->
<link name="world" />

<!--joint
    between world and link_0-->
<joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link="link_0" />
</joint>

<!-- iiwa -->
<xacro:iiwa14
    robot_name="$(arg robot_name)"
    sim="$(arg sim)"
    system_parameters_path="$(arg system_parameters_path)" />

<!-- include the robotiq hand-e -->

<xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.urdf.xacro" />


<link name="gripper_root_link">
</link>

<joint name="gripper_root_joint" type="fixed">
    <parent link="link_ee" />
    <child link = "gripper_root_link" />
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>

<!-- gripper -->
<xacro:robotiq_hande_gripper prefix="" parent="gripper_root_link" >
    <origin xyz="0.0 0 0.005" rpy="0 0 0"/>
</xacro:robotiq_hande_gripper>

`

Can I anyone please help me to debug the issues?

[mhubii]

hi @Miftahur92 , the error suggests a missing transformation. Maybe the robot state publisher doesn't receive the joint states correctly?

[mhubii]

related to #169