44bca7ba3a
## Problem When we launch openarm_bringup, the following error are raised. ```console $ ros2 launch openarm_bringup openarm.launch.py [INFO] [launch]: All log files can be found below /home/otegami/.ros/log/2025-05-23-15-07-52-834283-otegami-2239551 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ros2_control_node-1]: process started with pid [2239568] [INFO] [robot_state_publisher-2]: process started with pid [2239569] [INFO] [rviz2-3]: process started with pid [2239570] [robot_state_publisher-2] [INFO] [1747984073.330768599] [robot_state_publisher]: Robot initialized [ros2_control_node-1] [INFO] [1747984073.346291338] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles. [ros2_control_node-1] [ERROR] [1747984073.346957366] [pluginlib.ClassLoader]: Could not find a root element for package manifest at /home/otegami/work/cpp/ros2_ws/install/openarm_hardware/share/openarm_hardware/package.xml. [ros2_control_node-1] [ERROR] [1747984073.347001329] [pluginlib.ClassLoader]: Could not find package manifest (neither package.xml or deprecated manifest.xml) at same directory level as the plugin XML file /home/otegami/work/cpp/ros2_ws/install/openarm_hardware/share/openarm_hardware/openarm_hardware.xml. Plugins will likely not be exported properly. [ros2_control_node-1] ) [ros2_control_node-1] [ERROR] [1747984073.347237704] [pluginlib.ClassLoader]: Could not find a root element for package manifest at /home/otegami/work/cpp/ros2_ws/install/openarm_hardware/share/openarm_hardware/package.xml. [ros2_control_node-1] [ERROR] [1747984073.347246277] [pluginlib.ClassLoader]: Could not find package manifest (neither package.xml or deprecated manifest.xml) at same directory level as the plugin XML file /home/otegami/work/cpp/ros2_ws/install/openarm_hardware/share/openarm_hardware/openarm_hardware.xml. Plugins will likely not be exported properly. [ros2_control_node-1] ) [ros2_control_node-1] [ERROR] [1747984073.347465709] [pluginlib.ClassLoader]: Could not find a root element for package manifest at /home/otegami/work/cpp/ros2_ws/install/openarm_hardware/share/openarm_hardware/package.xml. [ros2_control_node-1] [ERROR] [1747984073.347471103] [pluginlib.ClassLoader]: Could not find package manifest (neither package.xml or deprecated manifest.xml) at same directory level as the plugin XML file /home/otegami/work/cpp/ros2_ws/install/openarm_hardware/share/openarm_hardware/openarm_hardware.xml. Plugins will likely not be exported properly. ``` ## Cause when the license comments appeared before the xml-model instruction, it happedned. ## Solution This PR changes places the xml-model declaration immediately after the XML prolog and ahead of the license block to resolve the issue.
66 lines
2.7 KiB
XML
66 lines
2.7 KiB
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<!--
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Copyright 2025 Reazon Holdings, Inc.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<package format="3">
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<name>openarm_moveit_config</name>
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<version>0.3.0</version>
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<description>
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An automatically generated package with all the configuration and launch files for using the openarm with the MoveIt Motion Planning Framework
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</description>
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<maintainer email="t95zhou@uwaterloo.ca">Thomason Zhou</maintainer>
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<license>Apache-2.0</license>
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<url type="website">http://moveit.ros.org/</url>
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<url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
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<url type="repository">https://github.com/ros-planning/moveit2</url>
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<author email="t95zhou@uwaterloo.ca">Thomason Zhou</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>moveit_ros_move_group</exec_depend>
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<exec_depend>moveit_kinematics</exec_depend>
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<exec_depend>moveit_planners</exec_depend>
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<exec_depend>moveit_simple_controller_manager</exec_depend>
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<exec_depend>joint_state_publisher</exec_depend>
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<exec_depend>joint_state_publisher_gui</exec_depend>
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<exec_depend>tf2_ros</exec_depend>
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<exec_depend>xacro</exec_depend>
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<!-- The next 2 packages are required for the gazebo simulation.
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We don't include them by default to prevent installing gazebo and all its dependencies. -->
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<!-- <exec_depend>joint_trajectory_controller</exec_depend> -->
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<!-- <exec_depend>gazebo_ros_control</exec_depend> -->
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<exec_depend>controller_manager</exec_depend>
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<exec_depend>moveit_configs_utils</exec_depend>
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<exec_depend>moveit_ros_move_group</exec_depend>
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<exec_depend>moveit_ros_visualization</exec_depend>
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<exec_depend>moveit_ros_warehouse</exec_depend>
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<exec_depend>moveit_setup_assistant</exec_depend>
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<exec_depend>openarm_description</exec_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<exec_depend>rviz_common</exec_depend>
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<exec_depend>rviz_default_plugins</exec_depend>
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<exec_depend>tf2_ros</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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