Open MDario97 opened 3 months ago
On the internal ROS system inside the MiR platform, there is a package called mirMsgs
. In order to publish these messages to the external ROS system, I had to recreate that package and copy the message definitions. The name mirMsgs
does not follow the naming conventions, which generates a warning in ROS1 and is even impossible in ROS2. Therefore, I've called the "external" ROS package that I created mir_msgs
.
The difference in naming is not a problem. If there were a difference in the actual contents of the messages, you would get an error.
Echoing the robot_mode
and robot_state
topics works for me:
$ rostopic echo /robot_mode
robotMode: 7
robotModeString: "Mission"
---
$ rostopic echo /robot_state
robotState: 4
robotStateString: "Pause"
---
This is on MiR software version 2.8.3.1. It is possible that they've changed these topics again in a later software version.
If i try to echo those commands i get the error: ERROR: Cannot load message class for [mir_msgs/Robot...]. Are your messages built?
That means you didn't install the mir_msgs
package, or installed from source but didn't compile it / didn't source the proper setup.bash
. How did you install the mir_robot package? The easiest way is sudo apt install ros-noetic-mir-robot
. That should automatically install mir_msgs
as well.
These are my exact passages to install the MIR package: (already installed ROS Noetic 20.04) 1)mkdir -p ~/catkinMIR_ws/src 2)cd ~/catkinMIR_ws/src/ 3)git clone -b noetic https://github.com/DFKI-NI/mir_robot.git 4)sudo apt-get update -qq 5)sudo apt-get install -qq -y python3-rosdep 6)sudo rosdep init 7)rosdep update 8)rosdep install --from-paths ./ -i -y --rosdistro noetic 9)source /opt/ros/noetic/setup.bash 10)catkin_init_workspace 11)cd ~/catkinMIR_ws 12)catkin_make -DCMAKE_BUILD_TYPE=RelWithDebugInfo 13)source ~/catkinMIR_ws/devel/setup.bash 14)echo "source ~/catkinMIR_ws/devel/setup.bash" >> ~/.bashrc 15)source ~/.bashrc
EDIT: i tried with the binary installation on another VM and it works
Glad that it works! Your installation steps from source also look correct, that should also have worked...
Good morning, In these days i am moving the MIR100 with matlab, publishing and subscribing topics, and i noticed that this particular message type ('mirMsgs/...) gives problems also in Matlab/Simulink (even with the new installation, if i see those topics in ROS i don't have problems anymore), in fact when i connect to the MIR/ROS master (i have the same problem), and the i digit 'rosmsg list' in matlab, i don't have the messages mirMssgs or mir_msgs in the available ones. In the next screens i am connected to the MIR master using 'rosinit(http://....:11311): As we can see the topic is present and the message type is the correct one, but then if i try to read the message types available: I don't get how it is possible, and the problem is the same even if i connect to the ROS master instead of the MIR master.
EDIT: Matlab is installed in the VM as ROS, so all the system is in the VM.
Yes, if you connect to the MiR ROS master directly, then you will need the package mirMsgs
from the MiR platform. I would recommend using this repository here with the mir_bridge instead.
Good morning, i am controlling a MIR100 with ROS Noetic 20.04 installed in a virtual box (Oracle). when i launch the mir.launch file i can see all the topics created by it, and i see a strange thing: a lot of topics have as message type 'mirMsgs', all of these topics are not available for me and i can't even visualize them with the echo funcion, so i went into the CMakeLists.txt, package.xml and mir_bridge.py files in the mir_driver folder and i noticed that mirMsgs is never present, but instead there is the message type 'mir_msgs' that is assigned as message type of all the topics that in the terminal of the mir_bridge have 'mirMsgs' as message type. i will post some photos: One of the Topics created after launching 'roslaunch mir_bridge mir.launch' on terminal: Contents of mir_bridge.py file in mir_driver/nodes folder: Contents of CMakeLists.txt file in mir_driver folder: Contents of package.xml file in mir_driver folder: How could i change the message type that i see in the Terminal? Thank you