search

PilzDE / pilz_tutorials

Files for PILZ tutorials on wiki.ros.org
http://wiki.ros.org/pilz_robots/Tutorials/
Apache License 2.0
9 stars 7 forks source link

Connection dropped due to datatype mismatch #37

Open ravijo opened 1 year ago

ravijo commented 1 year ago

Commit

At which commit was the issue/bug observed? 00a05fb

Steps to reproduce

How can the issue/bug be reproduced?

  1. $ roslaunch pilz_tutorial my_application.launch user@dell:~$ roslaunch pilz_tutorial my_application.launch ... logging to /home/user/.ros/log/ddf267a8-718b-11ee-8ba5-080027c21e0e/roslaunch-dell-9817.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. xacro: in-order processing became default in ROS Melodic. You can drop the option. xacro: in-order processing became default in ROS Melodic. You can drop the option. xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://dell:35553/ SUMMARY ======== PARAMETERS * /controller_joint_names: ['prbt_joint_1', ... * /joint_state_publisher/use_gui: False * /move_group/allow_trajectory_execution: True * /move_group/capabilities: pilz_trajectory_g... * /move_group/controller_list: [{'joints': ['prb... * /move_group/disable_capabilities: * /move_group/jiggle_fraction: 0.05 * /move_group/max_range: 5.0 * /move_group/max_safe_path_cost: 1 * /move_group/moveit_controller_manager: moveit_fake_contr... * /move_group/moveit_manage_controllers: True * /move_group/octomap_resolution: 0.025 * /move_group/planning_plugin: pilz::CommandPlanner * /move_group/planning_scene_monitor/publish_geometry_updates: True * /move_group/planning_scene_monitor/publish_planning_scene: True * /move_group/planning_scene_monitor/publish_state_updates: True * /move_group/planning_scene_monitor/publish_transforms_updates: True * /move_group/request_adapters: * /move_group/start_state_max_bounds_error: 0.1 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01 * /robot_description:
  2. $ rosrun pilz_tutorial myFirstApplication.py user@dell:~$ rosrun pilz_tutorial myFirstApplication.py [INFO] [1698055620.443937]: Waiting for connection to action server sequence_move_group... [INFO] [1698055620.660026]: Waiting for connection to service /prbt/get_speed_override... [INFO] [1698055620.662836]: Connection to service /prbt/get_speed_override established [INFO] [1698055620.663873]: Program started [INFO] [1698055620.664839]: Move: Ptp [ERROR] [1698055620.670411636]: Virtual joint does not attach to a link on the robot (link 'world' is not known) [ INFO] [1698055620.670870030]: Loading robot model 'prbt'... [ INFO] [1698055620.670887655]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1698055620.691954461]: Using link_prefix: 'prbt_' [INFO] [1698055620.694229]: RobotCommander created. [ INFO] [1698055621.755237555]: Ready to take commands for planning group manipulator.

Expected behavior

Robot should move inside RViz

Observed behavior

[ERROR] [1698055620.446190771]: 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.

Package Info.

user@dell:~$ apt-cache policy ros-melodic-pilz-robots
ros-melodic-pilz-robots:
  Installed: 0.5.23-1bionic.20230524.174426
  Candidate: 0.5.23-1bionic.20230524.174426
  Version table:
 *** 0.5.23-1bionic.20230524.174426 500
        500 http://packages.ros.org/ros/ubuntu bionic/main amd64 Packages
        100 /var/lib/dpkg/status

user@dell:~$ apt-cache policy ros-melodic-pilz-industrial-motion
ros-melodic-pilz-industrial-motion:
  Installed: 0.4.14-1bionic.20230524.180108
  Candidate: 0.4.14-1bionic.20230524.180108
  Version table:
 *** 0.4.14-1bionic.20230524.180108 500
        500 http://packages.ros.org/ros/ubuntu bionic/main amd64 Packages
        100 /var/lib/dpkg/status

System Info.

user@dell:~$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 18.04.6 LTS
Release:    18.04
Codename:   bionic

user@dell:~$ uname -a
Linux dell 5.4.0-150-generic #167~18.04.1-Ubuntu SMP Wed May 24 00:51:42 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux

user@dell:~$ gcc --version
gcc (Ubuntu 7.5.0-3ubuntu1~18.04) 7.5.0
Copyright (C) 2017 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

user@dell:~$ python --version
Python 2.7.17

user@dell:~$ python3 --version
Python 3.6.9
ravijo commented 1 year ago

After minor tweaks, it works with ROS Noetic! Please check https://github.com/PilzDE/pilz_tutorials/issues/38