The complete state of the robot is not yet known

[tajish]

Hello,
I was working with the motion planning of ur5 robot through using rviz. I moveit controller was imported by moveit2. But whenever I try to launch those files, it gives me error like:-

The complete state of the robot is not yet known. Missing robotiq_85_left_finger_joint, robotiq_85_right_finger_joint.

I am attaching the srdf file for your convinience. Can someone help me with that.

<group_state name="zero" group="manipulator">
    <joint name="elbow_joint" value="0"/>
    <joint name="shoulder_lift_joint" value="0"/>
    <joint name="shoulder_pan_joint" value="0"/>
    <joint name="wrist_1_joint" value="0"/>
    <joint name="wrist_2_joint" value="0"/>
    <joint name="wrist_3_joint" value="0"/>
</group_state>
<group_state name="up" group="manipulator">
    <joint name="elbow_joint" value="0"/>
    <joint name="shoulder_lift_joint" value="-1.57"/>
    <joint name="shoulder_pan_joint" value="-1.57"/>
    <joint name="wrist_1_joint" value="0"/>
    <joint name="wrist_2_joint" value="0"/>
    <joint name="wrist_3_joint" value="0"/>
</group_state>
<group_state name="open" group="gripper">
    <joint name="robotiq_85_left_finger_joint" value="0"/>
    <joint name="robotiq_85_left_knuckle_joint" value="0"/>
    <joint name="robotiq_85_right_finger_joint" value="0"/>
</group_state>
<group_state name="close" group="gripper">
    <joint name="robotiq_85_left_finger_joint" value="0"/>
    <joint name="robotiq_85_left_knuckle_joint" value="0.804"/>
    <joint name="robotiq_85_right_finger_joint" value="0"/>
</group_state>

<end_effector name="robotiq_gripper" parent_link="tool0" group="gripper"/>

<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base_link"/>

<passive_joint name="robotiq_85_left_finger_joint"/>
<passive_joint name="robotiq_85_right_finger_joint"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent"/>
<disable_collisions link1="camera_link" link2="robotiq_85_base_link" reason="Adjacent"/>
<disable_collisions link1="camera_link" link2="robotiq_85_left_finger_link" reason="Never"/>
<disable_collisions link1="camera_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="camera_link" link2="robotiq_85_left_inner_knuckle_link" reason="Default"/>
<disable_collisions link1="camera_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="camera_link" link2="robotiq_85_right_finger_link" reason="Default"/>
<disable_collisions link1="camera_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="camera_link" link2="robotiq_85_right_inner_knuckle_link" reason="Default"/>
<disable_collisions link1="camera_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="camera_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="camera_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="camera_link" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent"/>
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_base_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="robotiq_85_base_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="robotiq_85_base_link" link2="wrist_3_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_finger_tip_link" reason="Default"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Default"/>
<disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
<disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_1_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_2_link" reason="Never"/>
<disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent"/>
<disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent"/>
<disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never"/>
<disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent"/>

[sea-bass]

Your SRDF file mentions a bunch of robotiq gripper joints, but does your URDF file include a robotiq gripper? From the limited information above, it indicates that maybe you are launching with only the UR arm?

[tajish]

Yes if does! It has whole lot of urdf for robotic gripper, it's transmissions and it's Ros controllers defined as well. I will upload it as soon as possible for your convenience @sea-bass