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AlessioTonioni / Autonomous-Flight-ROS

A simple autopilot for a quadrotor realized using MoveIt!. The system use a simulated RGBD sensor to reconstruct the map, then ompl for path generation.
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hi #4

Open sssmile2020 opened 7 years ago

sssmile2020 commented 7 years ago

hello.you are great.but i meet a question as follow:

[ERROR] [1476115203.675887224, 1445.853000000]: Client [/move_group] wants topic /multi_dof_joint_trajectory_action/feedback to have datatype/md5sum [action_controller/MultiDofFollowJointTrajectoryActionFeedback/bb90301ebf9ac17d9c3bcafa7a141cba], but our version has [action_controller/MultiDofFollowJointTrajectoryActionFeedback/0611ea4a62fe3c6e8470a86482016c70]. Dropping connection.

can you help me? thank you very much.

AlessioTonioni commented 7 years ago

What version of ros are you using? This software was developed 3 years ago so a lot of things have hanged since then, the error said that the type of MultiDofFollowJointTrajectoryActionFeedback received is different from what /move_group expected. So it can be some mismatch between the version of this demo, moveit and ros

sssmile2020 commented 7 years ago

Thank you.My compile environment is ros-indigo.what should i do to make it successful.

AlessioTonioni commented 7 years ago

As i said the error state that the type of MultiDofFollowJointTrajectoryActionFeedback received is different from what /move_group expected, have you modified the definition of this message (in action_controller/msg)? Have you recompiled everything once compiled the action controller?

sssmile2020 commented 7 years ago

HI. I don't modify anything. I want to use it to perform an experiment with my algorithm for path planning. And i hope i can keep learning to you. Now there exist something wrong: when i sh 1-simulator.sh , [ WARN] [1476450241.911302759]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ WARN] [1476450242.878559705, 0.109000000]: dynamic reconfigure is not enabled for this image topic [camera/rgb/image_raw] becuase is not specified Error [Plugin.hh:156] Failed to load plugin libgazebo_ros_controller_manager.so: libgazebo_ros_controller_manager.so: cannot open shared object file: No such file or directory Warning [gazebo_quadrotor_simple_controller.cpp:57] The GazeboQuadrotorSimpleController plugin is DEPRECATED in ROS hydro. Please use the twist_controller in package hector_quadrotor_controller instead. And when i sh 2-controller.sh, it's okay. When i sh 3-planner.sh, [ERROR] [1476450411.048463308]: Robot model parameter not found! Did you remap 'robot_description'? [ERROR] [1476450411.048635274]: Robot model not loaded [ERROR] [1476450411.065250309]: Planning scene not configured OR SOMETIMES LIKES FOLLOWS: [ERROR] [1476450929.026444561]: Group 'Quadrotore' is not a chain [ERROR] [1476450929.026491588]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'Quadrotore' [ERROR] [1476450929.026667549]: Kinematics solver could not be instantiated for joint group Quadrotore. [ WARN] [1476450929.264042444, 24.060000000]: MoveitSimpleControllerManager: please note that 'action_ns' no longer has a default value. [ERROR] [1476450929.526195650, 24.309000000]: Client [/my_controller_node] wants topic /multi_dof_joint_trajectory_action/goal to have datatype/md5sum [action_controller/MultiDofFollowJointTrajectoryActionGoal/762be92da0a19418188f1bfa9dab9fe5], but our version has [action_controller/MultiDofFollowJointTrajectoryActionGoal/1292bbe002476592a0f3166376533ba1]. Dropping connection. [ERROR] [1476450944.640492143, 39.077000000]: MoveitSimpleControllerManager: Action client not connected: multi_dof_joint_trajectory_action [move_group-1] process has died [pid 26288, exit code -11, cmd /home/chen/ws_moveit/devel/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/chen/.ros/log/2a18757c-9210-11e6-bf4c-a402b9727fcc/move_group-1.log]. log file: /home/chen/.ros/log/2a18757c-9210-11e6-bf4c-a402b9727fcc/move_group-1*.log

AlessioTonioni commented 7 years ago

hi, sorry for the late reply:

Error [Plugin.hh:156] Failed to load plugin libgazebo_ros_controller_manager.so: libgazebo_ros_controller_manager.so: cannot open shared object file: No such file or directory

You are missing a plugin for gazebo, take a look at this issue on ros Q&A http://answers.ros.org/question/43578/problem-with-plugin-in-gazebo/

[ERROR] [1476450411.048463308]: Robot model parameter not found! Did you remap 'robot_description'? [ERROR] [1476450411.048635274]: Robot model not loaded [ERROR] [1476450411.065250309]: Planning scene not configured

This error came from the missing plugin above

ERROR] [1476450929.526195650, 24.309000000]: Client [/my_controller_node] wants topic /multi_dof_joint_trajectory_action/goal to have datatype/md5sum [action_controller/MultiDofFollowJointTrajectoryActionGoal/762be92da0a19418188f1bfa9dab9fe5], but our version has [action_controller/MultiDofFollowJointTrajectoryActionGoal/1292bbe002476592a0f3166376533ba1]. Dropping connection. [ERROR] [1476450944.640492143, 39.077000000]: MoveitSimpleControllerManager: Action client not connected: multi_dof_joint_trajectory_action

I still can't understand what causes this error sorry

sssmile2020 commented 7 years ago

Thanks for your patience.I will have a try according to your reply.

ghost commented 7 years ago

Hello @sssmile2020, did you get to solve the problem regarding the missing plugin? im having the same problem too :(