panda_ros_controllers.yaml is broken in the released version of Foxy which impacts the tutorial. You get a bunch of errors about a missing type for panda_hand_controller.
If you go ahead and build this package from source and install the package position_controllers you get a new issue where it complains about position_controllers/GripperActionController not existing. As far as I can tell that's not a controller in the position_controllers package from ros2_control. If I change it to the one type that is in there: position_controllers/JointGroupPositionController and the joints lines below like this to get it to initialize:
panda_hand_controller:
ros__parameters:
joints:
- panda_finger_joint1I then get this error from the rviz demo tutorial:
[move_group-4] [WARN] [1628822734.178116054] [moveit.simple_controller_manager.gripper_controller_handle]: Waiting for panda_hand_controller/gripper_cmd to come up
[move_group-4] [ERROR] [1628822739.178241544] [moveit.simple_controller_manager.gripper_controller_handle]: Action client not connected: panda_hand_controller/gripper_cmd
panda_ros_controllers.yaml is broken in the released version of Foxy which impacts the tutorial. You get a bunch of errors about a missing type for panda_hand_controller.
If you go ahead and build this package from source and install the package
position_controllersyou get a new issue where it complains aboutposition_controllers/GripperActionControllernot existing. As far as I can tell that's not a controller in theposition_controllerspackage from ros2_control. If I change it to the one type that is in there:position_controllers/JointGroupPositionControllerand the joints lines below like this to get it to initialize:I then get this error from the rviz demo tutorial: