issue of the generation of franka panda urdf model using docker and franka_description on github

[gordoncooongg]

I tried to use the official discription files on github and docker to generate the urdf for fer (panda robot):
https://github.com/frankaemika/franka_description

I met this error, as shown in the attached picture. Since I never used docker before, I do not know whether my writing format is wrong, or I have made other mistakes, which lead to this error. My aim is to generate the urdf for fer (panda), without end effector. I would like to know what is wrong, or how should I write in order to generate the corresponding urdf?

[AndreasKuhner]

Hey gordoncooongg,
thank you for reporting it. We noted it and will let you know when it is fixed :)

Cheers,
Andreas

[BarisYazici]

@gomezgu do you have any insights?

[gomezgu]

Hello gordoncooongg,

The error is in fer.urdf.xacro:

<xacro:franka_robot arm_id="$(arg arm_id)"
                     joint_limits="${xacro.load_yaml('$(find franka_description)/robots/$(arg arm_id)/joint_limits.yaml')}"
                     inertials="${xacro.load_yaml('$(find franka_description)/robots/$(arg arm_id)/inertials.yaml')}"
                     kinematics="${xacro.load_yaml('$(find franka_description)/robots/$(arg arm_id)/kinematics.yaml')}"
                     dynamics="${xacro.load_yaml('$(find franka_description)/robots/$(arg arm_id)/dynamics.yaml')}"
                     gazebo="$(arg gazebo)"
                     hand="$(arg hand)"
                     ee_id="$(arg ee_id)"
                     with_sc="$(arg with_sc)"
                     ros2_control="$(arg ros2_control)"
                     robot_ip="$(arg robot_ip)"
                     use_fake_hardware="$(arg use_fake_hardware)"
                     fake_sensor_commands="$(arg fake_sensor_commands)"
                     gazebo_effort="$(arg gazebo_effort)">
 </xacro:franka_robot>
</robot>

</xacro:franka_robot> is missing at the end.
We will push the fix in the coming days. In the meanwhile, you can add the line manually.

Best,
Guillermo