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PilzDE / pilz_tutorials

Files for PILZ tutorials on wiki.ros.org
http://wiki.ros.org/pilz_robots/Tutorials/
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Different datatype ERROR in MoveGroupSequenceActionResult when launching tutorial 3, myFirstApllication.py #35

Open progettista6 opened 1 year ago

progettista6 commented 1 year ago

Hello to everyone, I'm relatively new in ROS and I was trying to follow your tutorial on how to use pilz_industrial_motion. I followed all the steps present in the tutorial without any error, untill pilz_tutorial_3. I'm able to start the RViz simulation with the launch file but when I run the API python node it remains stucked in the first movement. The robot, in RViz reaches only the first goal and an [ERROR] message is reproduced:

[ERROR] [1678451342.070590807]: Client [/robot_program_node] wants topic /sequence_move_group/result to have datatype/md5sum [moveit_msgs/MoveGroupSequenceActionResult/e995e5b2d6c322a0395df341caa51d8e], but our version has [pilz_msgs/MoveGroupSequenceActionResult/bcd43e7481eddf90e6befe0e8788d0a3]. Dropping connection.

Steps to reproduce

  1. roslaunch pilz_tutorial my_application.launch
  2. rosrun pilz_tutorial myFirstApplication.py

Expected behavior

It supposes to reach the first point, and move to the second one.

Observed behavior

It reaches the first point only, and remains stucked there.

I noticed that the problem is in the data-type of the message /Result, but I was not being able to change it.

Is there someone having an idea on how to fix it?

progettista6 commented 1 year ago

** I'm using ROS Melodic