运行robotic_arm出现以下错误解决办法

问题1：Resource not found: franka_description

解决办法：sudo apt-get install ros-noetic-franka-description

下载完1后出现问题2：

No such file or directory: /opt/ros/noetic/share/franka_description/robots/panda_arm.urdf.xacro [Errno 2] No such file or directory: '/opt/ros/noetic/share/franka_description/robots/panda_arm.urdf.xacro'
RLException: while processing /home/sparks/robotic_arm/src/panda_moveit_config/launch/demo.launch:
while processing /home/sparks/robotic_arm/src/panda_moveit_config/launch/planning_context.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '/opt/ros/noetic/share/franka_description/robots/panda_arm.urdf.xacro', 'hand:=true']] returned with code [2].

Param xml is <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm.urdf.xacro hand:=$(arg load_gripper)"/>
The traceback for the exception was written to the log file

这是由于franka-description版本不一样建的文件不一样导致的，我们只需按照报错语句找到

文件/opt/ros/noetic/share/franka_description/robots，然后会发现后面的文件变了，根据我们系统中的文件修改planning_context.launch中配置机器人语句为$(find franka_description)/robots/panda/panda.urdf.xacro hand:=$(arg load_gripper)" />即可