franka_robot.xacro Failed to find root link: Two root links found: [panda_1_link0] and [world]

[simonbogh]

When adding a franka in a xacro using the following , then parent, xyz, and rpy are not forwarded in franka_robot.xacro, which leads to an error Failed to find root link as seen further below.

  <!-- Load joint limits -->
  <xacro:property name="panda_joint_limits" value="${xacro.load_yaml('$(find franka_description)/robots/panda/joint_limits.yaml')}"/>

  <!-- arm id -->
  <xacro:arg name="arm_id_1" default="panda_1" />

  <xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>

  <!-- Panda arm with gripper -->
  <xacro:franka_robot arm_id="$(arg arm_id_1)"
                      joint_limits="${panda_joint_limits}"
                      hand="true"
                      gazebo="false"
                      parent="robot_pedestal_link"
                      xyz="0 0 0.95"
                      rpy="0 0 0"
                      tcp_xyz="0 0 0.1034"
                      tcp_rpy="0 0 0" />

[ERROR]: Failed to find root link: Two root links found: [panda_1_link0] and [world]

Adding connected_to="${parent}" xyz="${xyz}" rpy="${rpy}" in line 8 in franka_robot.xacro resolves this issue.

franka_ros/franka_description/robots/common/franka_robot.xacro

Line 8 in 5f90395

<xacro:franka_arm arm_id="${arm_id}" safety_distance="0.03" gazebo="${gazebo}" joint_limits="${joint_limits}"/>

Is this left out on purpose?