moveit错误一

failed to lunch this command

 when i try this command : roslaunch panda_moveit_config demo.launch

rviz_tutorial:=true i get this error : No such file or directory: /opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro [Errno 2] No such file or directory: '/opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro' RLException: while processing /home/chizu/ws_moveit/src/panda_moveit_config/launch/planning_context.launch: Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '/opt/ros/noetic/share/franka_description/robots/panda_arm_hand.urdf.xacro']] returned with code [2].

Param xml is The traceback for the exception was written to the log file

正如franka_ros (0.8.0 - 2021-08-03)的CHANGELOG中所写：

BREAKING删除 panda_arm_hand.urdf.xacro。请改用 panda_arm.urdf.xacro hand:=true。

你应该换行

/home/chizu/ws_moveit/src/panda_moveit_config/launch/planning_context.launch

以前写成：

<param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'"/>
变得，

<param if="$(eval arg('load_robot_description') and arg('load_gripper'))" name="$(arg robot_description)" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm.urdf.xacro' hand:=true"/>