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Hello everyone!

I have exported a hand SolidWorks assembly file into a URDF using a the sw_urdf SolidWorks addon. I have defined the joint tree and wanted to move onto setting it up fully using MoveIt setup assistant. When I tried loading the file into it I have received the following error:

ROS was unable to find the package name hand within the ROS workspace. This may cause issues later.

This is strange as I have followed this guide when importing the generated URDF into my ROS workspace and it involved generating a package.

After I click OK to carry on and load the URDF into the setup assistant I get the following errors for every link I have (the example provided is a sample):

[rospack] Error: package 'hand.urdf' not found [librospack]: error while executing command [ERROR] [1646655128.321427916]: Could not load resource [package://hand.urdf/meshes/palm.STL]: Unable to open file "package://hand.urdf/meshes/palm.STL".

It seems that because MoveIt did not spot the package directory it couldn't find the meshes directory. I am unsure how to resolve this issue as I did setup a ROS package using catkin_create_pkg command.

I will be very grateful if someone could guide me regarding this problem.


Originally posted by Zero1d on ROS Answers with karma: 15 on 2022-03-07

Post score: 0

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1 Answer 1

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Before opening the moveit assistance, you must source the workspace where your robot's description package is located.

Something like you have ~/catkin_ws/src/my_robot_description

then,

to build your pkg, you can use catkin_make or catkin build. after building the package, you must source devel/setup.bash before launching the moveit setup assistance from the same sourced terminal.


Originally posted by aarsh_t with karma: 328 on 2022-03-07

This answer was ACCEPTED on the original site

Post score: 0


Original comments

Comment by Zero1d on 2022-03-13:
In the end I just had to add the custom hand package to the MoveIt workspace. It's not as neat as I was hoping for since I wanted to apply MoveIt to multiple workspaces. Unfortunately I had to rebuild the whole of the MoveIt workspace. Maybe I'm missing something, but I just wasn't able to source two workspaces.

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