A question in "planning_scene_tutorial.launch"

[self-smug]

package :franka_description directroy seems to have changed. I have made the following modifications. Please confirm if it is correct

i install franka_description via 'apt install ros-melodic-franka-description'

before:

<launch>
  <!-- send Panda urdf to parameter server -->
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />

  <include file="$(find panda_moveit_config)/launch/planning_context.launch"/>

  <node name="planning_scene_tutorial" pkg="moveit_tutorials" type="planning_scene_tutorial" respawn="false" output="screen">
    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
  </node>
</launch>

change:

<launch>
  <!-- send Panda urdf to parameter server -->
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda/panda.urdf.xacro' hand:=true" />

  <include file="$(find panda_moveit_config)/launch/planning_context.launch"/>

  <node name="planning_scene_tutorial" pkg="moveit_tutorials" type="planning_scene_tutorial" respawn="false" output="screen">
    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
  </node>
</launch>

[welcome[bot]]

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

[rhaschke]

Yes, the file locations in the franka_description package have changes in that fashion. However, I am curious, where you have found these old settings, i.e. which files should be updated?