Unable to perform Motion Planning in Gazebo with FR3 MoveIt Integration

[DimiSf]

Hi!!
I am working on a project involving the Franka Emika FR3 robot and attempting to integrate motion planning using ROS 2 Humble, MoveIt, and Gazebo. While motion planning works perfectly with MoveIt and RViz alone, I encounter issues when trying to perform motion planning with the robot in Gazebo.
Below are the details of my setup and the steps I have taken:

• Robot Model : Franka Emika R3 (fr3)
• OS: Ubuntu 22.04
• ROS2 Distro: Humble
• Gazebo Version: Ignition Gazebo Fortress (v6.16.0)
• OMPL Version:1.6.0
• franka_description version :0.3.0
• libfranka version : 0.13.3-1

What Works

• I am able to launch the fr3_moveit_config package for motion planning in RViz without any issues. Motion planning and trajectory visualization work perfectly with the following command:

  ros2 launch franka_fr3_moveit_config moveit.launch.py robot_ip:=dont-care use_fake_hardware:=true
  

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The Issue

• When I attempt to integrate motion planning with Gazebo by launching the robot visualization, I encounter issues. Specifically, I run the following command:

  ros2 launch franka_gazebo_bringup visualize_franka_robot.launch.py
  

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At this point, motion planning fails in RViz when trying to execute trajectories by adding Planning Scene and Motion Planning. Errors are displayed related to the planning or execution process, and I notice that OMPL isn’t even loaded.

Assistance

I would like guidance on how to correctly configure franka_bringup and integrate it with Gazebo to enable motion planning and trajectory execution with MoveIt.

Thank you in advance! I am still trying to configure how all these tools work since I am a beginner.

[DimiSf]

*** Also,when i run
ros2 launch franka_gazebo_bringup visualize_franka_robot.launch.py
i get :

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Should I separately launch the move_group node? If I launch it separately using franka_fr3_moveit.launch.py, a second RViz instance opens, and everything crashes.
thank u :)