search

justagist / panda_simulator

A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Apache License 2.0
203 stars 61 forks source link

I use cpp to imitate python script(move_robot.py). message md5sum is mismatch. #42

Closed TracyLestrade closed 3 years ago

TracyLestrade commented 3 years ago

I copied some .msg files from franka_ros_interface\franka_common\franka_core_msgs\msg to my package(panda_sim_testcpp) panda_sim_testcpp\msg. and I change package.xml, CMakeList.txt to configure it. it occured error. because it missed some dependencies. so, I copied franka_ros\franka_msgs this package to my catkin workspace. it. after that, I added package dependency. `

franka_msgs franka_msgs

` now, compile successed. i quiet sure about my cpp code correct. and i ran my node get errors. goes with md5sum is mismatch.

[ERROR] [1619424870.047841513]: md5sum mismatch making local subscription to topic /panda_simulator/motion_controller/arm/joint_commands. [ERROR] [1619424870.050563349]: Subscriber expects type sensor_msgs/JointState, md5sum 3066dcd76a6cfaef579bd0f34173e9fd [ERROR] [1619424870.050673424]: Publisher provides type panda_sim_testcpp/JointCommand, md5sum 766f72e801d6180a86db23dbf2c2a56f

how can i generate right header. could u give me some advice? I also want to know the right message md5.

justagist commented 3 years ago

You shouldn't have to copy the msg directories to your package. You should be able to use them directly in your package just by adding them as dependencies in your build configuration files. I believe the mismatch in the signatures could be because there are multiple instances of the same message files in your workspace. Also, I will not be able to help you with building a different ROS package, sorry; please use other sources for figuring out these issues. Closing this issue as it is not related to running or using this package. Please feel free to re-open if you think this wrong.

TracyLestrade commented 3 years ago

I checked. the original md5 of _RobotState.py(franka_ros_interface) is same with mine. which it means the msg generation is fine. not multiple instances issue. I guess there are some issue on my code. topic string I guess.