Problems with RViz and Gazebo (MoveIt pick and place tutorial)

asked 2022-05-25 03:18:00 -0500

LuisEFA1998 gravatar image

updated 2022-05-25 03:25:29 -0500

I am trying to replicate this MoveIt tutorial with my own robot (a KUKA KR5 manipulator), when I run the code only with RViz the robot moves without any problem and executes the pick and place operation, but when I do the simultaneous simulation with Gazebo the robot starts to move and out of nowhere "explodes", just after that the following appears in the terminal:

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Apparently there is a bug with one of the fingers of the end effector, but I don't understand exactly what the problem is. The simulators stay the same as in the image below after my code dies (the finger stays flying).

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Does anyone know what is causing this error? Do I have to modify something in my URDF file or some other file that MoveIt Setup Assistant generates? This is my first time using an end effector.

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