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ethz-asl / mav_trajectory_generation

Polynomial trajectory generation and optimization, especially for rotary-wing MAVs.
Apache License 2.0
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Message type conflict: PolynomialTrajectory with PolynomialTrajectory4D #111

Closed mzahana closed 3 years ago

mzahana commented 4 years ago

I am trying to use this package with waypoint_navigator, but I get the following error,

[ERROR] [1592562609.123919593]: Client [/trajectory_sampler] wants topic /path_segments to have datatype/md5sum [mav_planning_msgs/PolynomialTrajectory/2daf5d705534e84f80980f4673a0e62b], but our version has [mav_planning_msgs/PolynomialTrajectory4D/4d68d15524ede489eecd674bb6dc3ee8]. Dropping connection.

I found that in waypoint_navigator_node a publisher was created with message type PolynomialTrajectory4D. However, in trajectory_sampler_node a subscriber to the same topic path_segments has different message type of PolynomialTrajectory

Probably this requires a fix, no?

mzahana commented 3 years ago

A quick fix for this issue is to remap the path_segments in the waypoint_navigator_node to path_degments_4D

<remap from="path_segments" to="path_segments_4D"/>