其实在启动demo.launch.py 文件时，就发现终端回报错

[spawner-6] [FATAL] [1706014276.999011394] [spawner_gripper_controller]:Failed loading controller gripper_controller
[ERROR] [spawner-6]: process has died

这个arm_controller都没加载出来想必夹爪也就不会执行规划后的结果。于是找到我的文件包中跟夹爪控制器文件相关的是moveit_controllers.yaml文件，和官方文（gripper_moveit_controllers.yaml）对比，发现type、action_ns和官方文件不一样，改成一样，发现没效果，继续寻找abb_irb2400.ros2_control.xacro文件，对比官方文件（panda_hand.ros2_control.xacro）少了

            <joint name="panda_finger_joint2">
               <param name="mimic">panda_finger_joint1</param>
               <param name="multiplier">1</param>
               <command_interface name="position" />
               <state_interface name="position">
                 <param name="initial_value">${initial_positions['panda_finger_joint1']}</param>
               </state_interface>
               <state_interface name="velocity"/>
           </joint>

也就是少了一个关节，补上去问题解决。

官方文档链接：

https://github.com/ros-planning/moveit_resources/blob/2c9c6a8f22c45398f55d74b1a3954db1d408cb33/panda_moveit_config/config/gripper_moveit_controllers.yaml

https://github.com/ros-planning/moveit_resources/blob/2c9c6a8f22c45398f55d74b1a3954db1d408cb33/panda_moveit_config/config/panda_hand.ros2_control.xacro