如何修复 visualize_franka.sh Caught exception in launch: missing required argument 'arm_id'

问题

你想从 franka_description 仓库运行 scripts/visualize_franka.sh，但运行时你看到以下错误消息：

visualize_franka_error_output.txt

[INFO] [launch]: All log files can be found below /home/user/.ros/log/2025-01-11-22-18-25-728882-226847ca30b0-161
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Included launch description missing required argument 'arm_id' (description: 'ID of the type of arm used. Supporter values: fer, fr3, fp3'), given: []

[INFO] [launch]: All log files can be found below /home/user/.ros/log/2025-01-11-22-18-25-728882-226847ca30b0-161
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Included launch description missing required argument 'arm_id' (description: 'ID of the type of arm used. Supporter values: fer, fr3, fp3'), given: []

解决方案

Franka 机器人有多种类型，包括 Franka Research 3、Franka Panda 等。

你需要指定实际使用哪种机器人进行可视化。你可以通过在启动可视化脚本时设置 arm_id 参数来做到这一点：

visualize_franka.sh

./scripts/visualize_franka.sh arm_id:=fr3

./scripts/visualize_franka.sh arm_id:=fr3

fr3 表示 Franka Research 3。在撰写本文时，支持以下值：

fer 用于 Franka Emika Research
fr3 用于 Franka Research 3
fp3 用于 Franka Panda 3

但你可以通过查看 meshes/robot_arms 目录或 README 来检查你的脚本版本支持哪些版本。

list_robot_arms.sh

$ ls meshes/robot_arms/
fer/  fr3/  fp3/

$ ls meshes/robot_arms/
fer/  fr3/  fp3/

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