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wilselby / ROS_quadrotor_simulator

Quadrotor simulator using ROS, Gazebo, and RVIZ
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Client [/move_group] wants topic /multi_dof_joint_trajectory_action/feedback to have datatype/md5sum [action_controller/MultiDofFollowJointTrajectoryActionFeedback #29

Closed boonflies closed 5 years ago

boonflies commented 6 years ago

When I try to launch, roslaunch quad_3dnav quad_3dnav.launch I receive the following error.

ERROR [/tmp/binarydeb/ros-indigo-roscpp-1.11.21/src/libros/publication.cpp:498(Publication::validateHeader) [topics: /rosout, /cmd_vel, /cmd_3dnav, /multi_dof_joint_trajectory_action/result, /multi_dof_joint_trajectory_action/feedback, /multi_dof_joint_trajectory_action/status] Client [/move_group] wants topic /multi_dof_joint_trajectory_action/feedback to have datatype/md5sum [action_controller/MultiDofFollowJointTrajectoryActionFeedback/bb90301ebf9ac17d9c3bcafa7a141cba], but our version has [action_controller/MultiDofFollowJointTrajectoryActionFeedback/0611ea4a62fe3c6e8470a86482016c70]. Dropping connection. 1.425000000 ERROR [/tmp/binarydeb/ros-indigo-roscpp-1.11.21/src/libros/publication.cpp:498(Publication::validateHeader) [topics: /rosout, /move_group/planning_scene_monitor/parameter_descriptions, /move_group/planning_scene_monitor/parameter_updates, /move_group/monitored_planning_scene, /move_group/ompl/parameter_descriptions, /move_group/ompl/parameter_updates, /move_group/display_planned_path, /move_group/display_contacts, /multi_dof_joint_trajectory_action/goal, /multi_dof_joint_trajectory_action/cancel] Client [/action_controller] wants topic /multi_dof_joint_trajectory_action/goal to have datatype/md5sum [action_controller/MultiDofFollowJointTrajectoryActionGoal/762be92da0a19418188f1bfa9dab9fe5], but our version has [action_controller/MultiDofFollowJointTrajectoryActionGoal/1292bbe002476592a0f3166376533ba1].

wilselby commented 6 years ago

Try updating your packages.

tahsinkose commented 6 years ago

I have posted in @wilselby's blog as well. If you are using Kinetic like me for to get this project up and running, probably update&upgrade sequence won't suffice to get rid of this error. Instead, reading a little bit documentation and migration stuff enlightens the issue.

Actually, the problem is related to custom action_controller package, which @wilselby has also a copy of it in its project repository. They should not be blamed, since MoveIt! indeed has a moveit_msgs/MultiDOFJointTrajectory.msg file for ROS Indigo. However, since Kinetic, they migrate trajectory stuff under trajectory_msgs package. That's why, at least in Kinetic case, the identical run-time error occurs. Changing every occurence of moveit_msgs with trajectory_msgs in the file MultiDofFollowJointTrajectory.action of action_controller package and having a brand new compilation would resolve this problem (Also don't forget to remove the contents of msg_gen and build directories. Since CMake checks for diff during compilation, they may not be regenerated and changes may not be reflected.)

EDIT: I was following the tutorial at @wilselby's website, and the link he provided has an old action_controller. Contrarily, this repository stores the updated version. So, the changes I described above are already implemented.

wilselby commented 5 years ago

Thanks for the detailed feedback!