issue with Gripper controllers

src/ur_robotiq_description/config/ur_robotiq_controllers.yaml

@@ -134,7 +134,7 @@ forward_position_controller:
 robotiq_gripper_controller:
   ros__parameters:
     default: true
-    joint: $(var tf_prefix)robotiq_140_left_knuckle_joint
+    joint: $(var tf_prefix)finger_joint
     use_effort_interface: true
     use_speed_interface: true
 

src/ur_robotiq_description/launch/ur_robotiq_controller.launch.py

@@ -496,7 +496,7 @@ def generate_launch_description():
         )
     )
     declared_arguments.append(
-        DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
+        DeclareLaunchArgument("launch_rviz", default_value="false", description="Launch RViz?")
     )
     declared_arguments.append(
         DeclareLaunchArgument(

src/ur_robotiq_description/urdf/ur_robotiq.urdf.xacro

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur_robotiq">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur_manipulator">
 
 	<!-- parameters -->    
-	<xacro:arg name="name" default="ur"/>
+	<xacro:arg name="name" default="ur_manipulator"/>
 	<!-- import main macro -->
 	<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
 	<xacro:include filename="$(find ur_robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro" />
@@ -52,7 +52,7 @@
 	<xacro:arg name="simulation_controllers" default="" />
 
 	<!-- initial position for simulations (Fake Hardware, Gazebo, Ignition) -->
-	<xacro:arg name="initial_positions_file" default="$(find ur_description)/config/initial_positions.yaml"/>
+	<xacro:arg name="initial_positions_file" default="$(find ur_robotiq_moveit_config)/config/initial_positions.yaml"/>
 
 	<!-- convert to property to use substitution in function -->
 	<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>	

src/ur_robotiq_description/urdf/ur_to_robotiq_adapter.urdf.xacro

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="ur_robotiq_adapter">
   <xacro:macro name="ur_to_robotiq" params="prefix parent child rotation:=^|${0.0}">
 
     <joint name="${prefix}ur_to_robotiq_joint" type="fixed">

src/ur_robotiq_moveit_config/config/controllers.yaml

@@ -2,7 +2,6 @@ controller_names:
   - scaled_joint_trajectory_controller
   - joint_trajectory_controller
   - robotiq_gripper_controller
-  - robotiq_activation_controller
 
 
 scaled_joint_trajectory_controller:
@@ -31,14 +30,11 @@ joint_trajectory_controller:
     - wrist_3_joint
 
 robotiq_gripper_controller:
-  action_ns: antipodal_gripper_action_controller
+  action_ns: position_controllers
   type: GripperActionController
   default: true
-  joint: robotiq_85_left_knuckle_joint
+  joints:
+  - finger_joint
   use_effort_interface: true
   use_speed_interface: true
 
-robotiq_activation_controller:
-  action_ns: robotiq_controllers
-  type: RobotiqActivationController
-  default: true

src/ur_robotiq_moveit_config/config/initial_positions.yaml

@@ -1,10 +1,7 @@
-# Default initial positions for ur_robotiq's ros2_control fake system
+elbow_joint: 0
-
+shoulder_lift_joint: 0
-initial_positions:
+shoulder_pan_joint: 0
-  elbow_joint: 0
+wrist_1_joint: 0
-  shoulder_lift_joint: 0
+wrist_2_joint: 0
-  shoulder_pan_joint: 0
+wrist_3_joint: 0
-  wrist_1_joint: 0
+finger_joint: 0.695
-  wrist_2_joint: 0
-  wrist_3_joint: 0
-  finger_joint: 0.695

src/ur_robotiq_moveit_config/config/kinematics.yaml

@@ -4,7 +4,7 @@ ur_manipulator:
     kinematics_solver_search_resolution: 0.005
     kinematics_solver_timeout: 0.005
     kinematics_solver_attempts: 3
-robotiq_gripper:
+gripper:
   ros__parameters:
     kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
     kinematics_solver_search_resolution: 0.005

src/ur_robotiq_moveit_config/config/ompl_planning.yaml

@@ -52,7 +52,7 @@ planner_configs:
     max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
   PRMstarkConfigDefault:
     type: geometric::PRMstar
-ur_arm:
+ur_manipulator:
   planner_configs:
     - SBLkConfigDefault
     - ESTkConfigDefault

src/ur_robotiq_moveit_config/config/robotiq_update_rate.yaml

@@ -1,3 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 500  # Hz

src/ur_robotiq_moveit_config/launch/demo.launch.py

@@ -1,7 +0,0 @@
-from moveit_configs_utils import MoveItConfigsBuilder
-from moveit_configs_utils.launches import generate_demo_launch
-
-
-def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
-    return generate_demo_launch(moveit_config)

src/ur_robotiq_moveit_config/launch/move_group.launch.py

@@ -1,7 +0,0 @@
-from moveit_configs_utils import MoveItConfigsBuilder
-from moveit_configs_utils.launches import generate_move_group_launch
-
-
-def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
-    return generate_move_group_launch(moveit_config)

src/ur_robotiq_moveit_config/launch/moveit_rviz.launch.py

@@ -1,7 +0,0 @@
-from moveit_configs_utils import MoveItConfigsBuilder
-from moveit_configs_utils.launches import generate_moveit_rviz_launch
-
-
-def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
-    return generate_moveit_rviz_launch(moveit_config)

src/ur_robotiq_moveit_config/launch/rsp.launch.py

@@ -1,7 +0,0 @@
-from moveit_configs_utils import MoveItConfigsBuilder
-from moveit_configs_utils.launches import generate_rsp_launch
-
-
-def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
-    return generate_rsp_launch(moveit_config)

src/ur_robotiq_moveit_config/launch/spawn_controllers.launch.py

@@ -1,7 +0,0 @@
-from moveit_configs_utils import MoveItConfigsBuilder
-from moveit_configs_utils.launches import generate_spawn_controllers_launch
-
-
-def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
-    return generate_spawn_controllers_launch(moveit_config)

src/ur_robotiq_moveit_config/launch/static_virtual_joint_tfs.launch.py

@@ -1,7 +0,0 @@
-from moveit_configs_utils import MoveItConfigsBuilder
-from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch
-
-
-def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ur_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
-    return generate_static_virtual_joint_tfs_launch(moveit_config)

src/ur_robotiq_moveit_config/launch/ur_robotiq_moveit.launch.py

@@ -126,9 +126,9 @@ def generate_launch_description():
 
     robot_description_kinematics = load_yaml(moveit_config_package, "config/kinematics.yaml")
 
-    robot_description_planning = {
+    # robot_description_planning = {
-        "robot_description_planning": load_yaml(ur_moveit_config_package, "config/joint_limits.yaml")
+    #     "robot_description_planning": load_yaml(ur_moveit_config_package, "config/joint_limits.yaml")
-    }
+    # }
 
     # Planning Configuration
     ompl_planning_pipeline_config = {
@@ -170,13 +170,6 @@ def generate_launch_description():
         "publish_state_updates": True,
         "publish_transforms_updates": True,
     }
-    print(robot_description,
-          robot_description_semantic,
-          robot_description_kinematics,
-          ompl_planning_pipeline_config,
-          trajectory_execution,
-          moveit_controllers,
-          planning_scene_monitor_parameters)
     # Start the actual move_group node/action server
     move_group_node = Node(
         package="moveit_ros_move_group",
@@ -186,7 +179,7 @@ def generate_launch_description():
             robot_description,
             robot_description_semantic,
             robot_description_kinematics,
-            robot_description_planning,
+            # robot_description_planning,
             ompl_planning_pipeline_config,
             trajectory_execution,
             moveit_controllers,
@@ -195,13 +188,6 @@ def generate_launch_description():
         ],
     )
 
-    robot_state_publisher_node = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        output="both",
-        parameters=[robot_description],
-    )
-
     # rviz with moveit configuration
     rviz_config_file = PathJoinSubstitution(
         [FindPackageShare(moveit_config_package), "rviz", "view_robot.rviz"]
@@ -218,7 +204,7 @@ def generate_launch_description():
             robot_description_semantic,
             ompl_planning_pipeline_config,
             robot_description_kinematics,
-            robot_description_planning,
+            # robot_description_planning,
         ],
     )
 
@@ -242,7 +228,7 @@ def generate_launch_description():
     # UR specific arguments
     robot_name_arg = DeclareLaunchArgument(
         "robot_name",
-        default_value= "ur",
+        default_value="ur",
         description="Name of the Universal Robot"
     )
 
@@ -277,6 +263,6 @@ def generate_launch_description():
         launch_servo_arg
     ]
     # servo_node,
-    nodes_to_start = [move_group_node, rviz_node,  robot_state_publisher_node]
+    nodes_to_start = [move_group_node, rviz_node, servo_node]
 
     return LaunchDescription(launch_args + nodes_to_start)

src/ur_robotiq_moveit_config/package.xml

@@ -39,9 +39,17 @@
   <exec_depend>rviz_common</exec_depend>
   <exec_depend>rviz_default_plugins</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>ur_robotiq_description</exec_depend>
   <exec_depend>xacro</exec_depend>
 
+  <exec_depend>ur_robotiq_description</exec_depend>
+  <exec_depend>ur_description</exec_depend>
+  <exec_depend>ur_robot_driver</exec_depend>
+  <exec_depend>ur_controllers</exec_depend>
+  <exec_depend>robotiq_description</exec_depend>
+  <exec_depend>robotiq_driver</exec_depend>
+  <exec_depend>robotiq_controllers</exec_depend>
+  <exec_depend>gripper_controllers</exec_depend>
+
 
   <export>
       <build_type>ament_cmake</build_type>

src/ur_robotiq_moveit_config/rviz/moveit.rviz

@@ -1,51 +0,0 @@
-Panels:
-  - Class: rviz_common/Displays
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /MotionPlanning1
-  - Class: rviz_common/Help
-    Name: Help
-  - Class: rviz_common/Views
-    Name: Views
-Visualization Manager:
-  Displays:
-    - Class: rviz_default_plugins/Grid
-      Name: Grid
-      Value: true
-    - Class: moveit_rviz_plugin/MotionPlanning
-      Name: MotionPlanning
-      Planned Path:
-        Loop Animation: true
-        State Display Time: 0.05 s
-        Trajectory Topic: display_planned_path
-      Planning Scene Topic: monitored_planning_scene
-      Robot Description: robot_description
-      Scene Geometry:
-        Scene Alpha: 1
-      Scene Robot:
-        Robot Alpha: 0.5
-      Value: true
-  Global Options:
-    Fixed Frame: world
-  Tools:
-    - Class: rviz_default_plugins/Interact
-    - Class: rviz_default_plugins/MoveCamera
-    - Class: rviz_default_plugins/Select
-  Value: true
-  Views:
-    Current:
-      Class: rviz_default_plugins/Orbit
-      Distance: 2.0
-      Focal Point:
-        X: -0.1
-        Y: 0.25
-        Z: 0.30
-      Name: Current View
-      Pitch: 0.5
-      Target Frame: world
-      Yaw: -0.623
-Window Geometry:
-  Height: 975
-  QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Width: 1200

src/ur_robotiq_moveit_config/rviz/view_robot.rviz

@@ -0,0 +1,311 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 87
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.4957627058029175
+    Tree Height: 573
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Acceleration_Scaling_Factor: 0.1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Constraint_Aware_IK: false
+      MoveIt_Warehouse_Host: 127.0.0.1
+      MoveIt_Warehouse_Port: 33829
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: true
+        Interrupt Display: true
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          base_link_inertia:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          flange:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          shoulder_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          wrist_1_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          wrist_2_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          wrist_3_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Loop Animation: false
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trail Step Size: 1
+        Trajectory Topic: /display_planned_path
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0
+        Joint Violation Color: 255; 0; 255
+        Planning Group: ur_manipulator
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          base_link_inertia:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          flange:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          shoulder_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          wrist_1_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          wrist_2_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          wrist_3_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 6.619869709014893
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.2489434778690338
+        Y: -0.013962505385279655
+        Z: 0.13800443708896637
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.4103981554508209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.210397720336914
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1381
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001e0000004f6fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000046000002e3000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000005201000003fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000032a00000212000001b9010000030000000100000110000004f6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000046000004f6000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000070e000004f600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2560
+  X: 0
+  Y: 30

src/ur_robotiq_moveit_config/srdf/ur_robotiq.srdf

@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur_robotiq_srdf">
 
   <!-- robot name parameter -->
-  <xacro:arg name="name" default="ur"/>
+  <xacro:arg name="name" default="ur_manipulator"/>
   <!-- parameters -->
   <xacro:arg name="prefix" default="" />
 

src/ur_robotiq_moveit_config/srdf/ur_robotiq_macro.srdf.xacro

@@ -10,8 +10,7 @@
       <chain base_link="${prefix}base_link" tip_link="${prefix}tool0" />
     </group>
     <group name="${prefix}gripper">
-        <link name="${prefix}robotiq_base_link"/>
+        <joint name="${prefix}finger_joint"/>
-        <link name="${prefix}left_inner_knuckle"/>
     </group>
     <!--GROUP STATES - Purpose - Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="${prefix}home" group="${prefix}${name}_manipulator">