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DFKI-NI / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
BSD 3-Clause "New" or "Revised" License
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topic 'mir_status' is not published by the MiR! #17

Closed dzoberti closed 5 years ago

dzoberti commented 5 years ago

I am working on MIR100 with software 2.2.2. When starting mir.launch, I get a warning that the mir_status topic is not published by MiR and it is true. However I want to get this vital information, for example information about the battery. I have noticed that there exists a topic called robot_status with the message type mirMsgs/RobotStatus which I cannot read:

$ rostopic echo /robot_status
ERROR: Cannot load message class for [mirMsgs/RobotStatus]. Are your messages built?

I can't get further than this and I would appreciate any help.

mintar commented 5 years ago

I'm currently still working with MiR software 1.9, but am planning to upgrade soon. :)

I've pushed the messages from version 2.0.2 (should hopefully be the same as 2.2.2) to a new branch called mir_msgs-2.0.2 in my personal fork:

https://github.com/mintar/mir_robot/tree/mir_msgs-2.0.2

I've renamed mirMsgs to mir_msgs to conform with standard naming practices. This means that if you connect to the MiR's roscore directly, you will still get the same error message about messages not being built. However, if you use the mir_bridge.py instead, it should work if you first add the following line:

 TopicConfig('robot_status', RobotStatus),

... around here:

https://github.com/dfki-ric/mir_robot/blob/0041b41bb661d32a34c266d0535acf1c78cf61b9/mir_driver/nodes/mir_bridge.py#L145

Once I update to MiR software 2, I'll also update the code in this repo properly.

dzoberti commented 5 years ago

It works!! Thank you so much.