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Joint 'robotiq_85_left_knuckle_joint' not found in URDF #264
Description
Sytem info:- Followed steps on README to set the kinova gen3 7dof arm on a physical robot with ros2 , the system I'm using is a intel process with Graphics.
what's the goal:- to teleop the kinova arm with keyboard in ros2 env.
am'I using conda env? NO ros2 installed system wide.
Issue:- ros2 control node not able to fine robotiq_85_left_knuckle_joint in urdf.
Launch file:- ros2 launch kortex_bringup gen3.launch.py robot_ip:=192.168.1.10
DO i have any gripper on robot? NO
Why no gripper on hand? For my use case I have a custom gripper to hold objects.
Did I tried with gripper parm as null?:- Nope, because default parm is null
[robot_state_publisher-2] [INFO] [1739053816.016799705] [robot_state_publisher]: Robot initialized
[ros2_control_node-1] [INFO] [1739053816.026524148] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1739053816.027713677] [controller_manager]: update rate is 1000 Hz
[ros2_control_node-1] [INFO] [1739053816.027722030] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1739053816.027808004] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-1] [INFO] [1739053816.036833527] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] Error parsing the limits for the interface: position from the tags [min: '{-2*pi}' and max: '{2*pi}'] within ros2_control tag inside the URDF. Skipping it
[ros2_control_node-1] Error parsing the limits for the interface: position from the tags [min: '{-2*pi}' and max: '{2*pi}'] within ros2_control tag inside the URDF. Skipping it
[ros2_control_node-1] Error parsing the limits for the interface: position from the tags [min: '{-2*pi}' and max: '{2*pi}'] within ros2_control tag inside the URDF. Skipping it
[ros2_control_node-1] Error parsing the limits for the interface: position from the tags [min: '{-2*pi}' and max: '{2*pi}'] within ros2_control tag inside the URDF. Skipping it
[ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-1] what(): Joint 'robotiq_85_left_knuckle_joint' not found in URDF
[ros2_control_node-1] Stack trace (most recent call last) in thread 81244:
[ros2_control_node-1] #18 Object "", at 0xffffffffffffffff, in
[ros2_control_node-1] #17 Source "../sysdeps/unix/sysv/linux/x86_64/clone3.S", line 78, in clone3 [0x707eb9129c3b]
[ros2_control_node-1] #16 Source "./nptl/pthread_create.c", line 447, in start_thread [0x707eb909caa3]
[ros2_control_node-1] #15 Source "../../../../../src/libstdc++-v3/src/c++11/thread.cc", line 104, in execute_native_thread_routine [0x707eb94ecdb3]
Activity
aalmrad commentedon Feb 11, 2025
Hello,
Can you please specify the default value for the "gripper_joint_name" argument to be an empty string in the gen3.launch.py file?
Best,
Abed
immediately25 commentedon May 13, 2025
@aalmrad Excuse me,
I also came up with the same problem and I have already specified the default value for the "gripper_joint_name" argument to be an empty string, but I still came up with the error
aalmrad commentedon May 14, 2025
@Sayantan405 I am not facing this issue on my end. Can you please share your modified launch file?
fix: automated fix attempt for issue #264
github-actions commentedon Apr 3, 2026
As part of Kinova's beta testing: Claude is analyzing this issue and will attempt an automated fix. A pull request will be opened if changes are made.
fix: automated fix attempt for issue #264
github-actions commentedon Apr 3, 2026
Claude has submitted a fix attempt: #402