Add the fixed model for the 3f gripper; this won't allow any feedback in rviz, but it will satisfy MoveIt's requirements to have a completely-defined robot state.

Author: civerachb-cpr

robotiq_3f_gripper_visualization/launch/test_3f_fixed_model.launch

@@ -0,0 +1,10 @@
+<?xml version="1.0" ?>
+
+<launch>
+  <arg name="gui" default="True" />
+  <param name="robot_description" command="$(find xacro)/xacro $(find robotiq_3f_gripper_visualization)/urdf/robotiq_3f_fixed_model.urdf.xacro" />
+  <param name="use_gui" value="$(arg gui)"/>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robotiq_3f_gripper_visualization)/visualize.rviz" required="true" />
+</launch>