Error: Joints on incoming goal don't match the controller joints.

I followed the exact steps as suggested by you but I face this issue when I try to open the gripper in gazebo using the “panda_arm_hand” group.

I use the panda_simulation/launch/simulation.launch file from your code when I face this error.

`[ INFO] [1598501920.670434928, 22.629000000]: Constructing new MoveGroup connection for group 'panda_arm_hand' in namespace ''

[ INFO] [1598501920.760571710, 22.699000000]: Ready to take commands for planning group panda_arm_hand.

[ INFO] [1598501920.760658933, 22.699000000]: Looking around: no

[ INFO] [1598501920.760693550, 22.699000000]: Replanning: no

[ INFO] [1598501928.376091787, 29.183000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.

[ INFO] [1598501928.376485151, 29.183000000]: Planning attempt 1 of at most 1

[ INFO] [1598501928.376780958, 29.183000000]: Starting state is just outside bounds (joint 'panda_finger_joint1'). Assuming within bounds.

[ INFO] [1598501928.379398700, 29.186000000]: Planner configuration 'panda_arm_hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.

[ INFO] [1598501928.381120592, 29.188000000]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1598501928.381200766, 29.188000000]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1598501928.381370661, 29.188000000]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1598501928.381435984, 29.188000000]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1598501928.397475351, 29.203000000]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1598501928.398498527, 29.204000000]: RRTConnect: Created 4 states (2 start + 2 goal)

[ INFO] [1598501928.400501796, 29.206000000]: RRTConnect: Created 6 states (2 start + 4 goal)

[ INFO] [1598501928.407793452, 29.211000000]: RRTConnect: Created 6 states (2 start + 4 goal)

[ INFO] [1598501928.408319705, 29.212000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.027791 seconds

[ INFO] [1598501928.409109733, 29.213000000]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1598501928.409614384, 29.213000000]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1598501928.409819244, 29.213000000]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1598501928.410176520, 29.213000000]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1598501928.415975635, 29.216000000]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1598501928.417308157, 29.218000000]: RRTConnect: Created 4 states (2 start + 2 goal)

[ INFO] [1598501928.418953694, 29.220000000]: RRTConnect: Created 6 states (2 start + 4 goal)

[ INFO] [1598501928.421542082, 29.221000000]: RRTConnect: Created 6 states (2 start + 4 goal)

[ INFO] [1598501928.422544058, 29.221000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.013612 seconds

[ INFO] [1598501928.423268307, 29.221000000]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1598501928.423932299, 29.221000000]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1598501928.430913479, 29.227000000]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1598501928.435351748, 29.231000000]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1598501928.435927266, 29.232000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.012887 seconds

[ INFO] [1598501928.468093214, 29.260000000]: SimpleSetup: Path simplification took 0.031553 seconds and changed from 3 to 2 states

[ INFO] [1598501928.469602657, 29.260000000]: Planning adapters have added states at index positions: [ 0 ]

[ INFO] [1598501928.474335734, 29.265000000]: Disabling trajectory recording

[ERROR] [1598501928.491541561, 29.279000000]: Joints on incoming goal don't match the controller joints.

[ WARN] [1598501928.493957406, 29.281000000]: Controller panda_hand_controller failed with error INVALID_JOINTS: 

[ INFO] [1598501930.607518792, 31.027000000]: Controller panda_arm_controller successfully finished

[ WARN] [1598501930.607690853, 31.027000000]: Controller handle panda_hand_controller reports status FAILED

[ INFO] [1598501930.607848520, 31.027000000]: Completed trajectory execution with status FAILED ...

[ INFO] [1598501930.629964474, 31.046000000]: ABORTED: Solution found but controller failed during execution

`

[venkateshsripada]

I solved it: There are two ways to go about it. Do the following for panda_arm_hand and panda_hand groups. I am explaining here panda_hand group for reference.

Solution 1 Under /catkin_ws/src/panda_simulation/config/panda_control.yaml there are panda_finger_joint1 and panda_finger_joint2 under panda_hand_controller: Remove the panda_finger_joint2 as we are mimicking joint1. Make sure that /your_moveit_package/config/ros_controllers.yaml also has the same names as in panda_control.yaml

This might cause a different error as discussed here

Solution 2 Do not mimic joints but treat them as separate active joints. For that go to /catkin_ws/src/franka_ros/franka_description/robots/hand.xacro and remove the mimic element under panda_finger_joint2 Also go to /your_moveit_package/robots/hand.urdf and remove the mimic element under panda_finger_joint2

Check for any additional hand.urdf or srdf files that gazebo is dependent on and remove the mimic element or the word passive for panda_finger_joint2 thus treating it as an independent joint

[qyp-robot]

I solved it: There are two ways to go about it. Do the following for panda_arm_hand and panda_hand groups. I am explaining here panda_hand group for reference.

Solution 1 Under /catkin_ws/src/panda_simulation/config/panda_control.yaml there are panda_finger_joint1 and panda_finger_joint2 under panda_hand_controller: Remove the panda_finger_joint2 as we are mimicking joint1. Make sure that /your_moveit_package/config/ros_controllers.yaml also has the same names as in panda_control.yaml

This might cause a different error as discussed here

Solution 2 Do not mimic joints but treat them as separate active joints. For that go to /catkin_ws/src/franka_ros/franka_description/robots/hand.xacro and remove the mimic element under panda_finger_joint2 Also go to /your_moveit_package/robots/hand.urdf and remove the mimic element under panda_finger_joint2

Check for any additional hand.urdf or srdf files that gazebo is dependent on and remove the mimic element or the word passive for panda_finger_joint2 thus treating it as an independent joint

The second method is very useful for me. I have successfully tested it in the panda machine and gazebo environment, thank you very much