Getting error related to move_base [closed]

asked 2013-12-14 03:33:32 -0600

rnunziata gravatar image

Getting the following error when running move_base with ekl and gmapping. Any ideas what this error means?

[ERROR] [1386956256.093192603, 0.774000000]: Client [/move_base] wants topic /rrbot_combined_odom/odom to have datatype/md5sum [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7], but our version has [geometry_msgs/PoseWithCovarianceStamped/953b798c0f514ff060a53a3498ce6246]. Dropping connection.

my launch file is as follows:


  <!-- Use simulation time from gazebo -->
  <rosparam param="use_sim_time=true"/>

  <!-- Load robot description here ; used by rviz / rqt_gui -->
  <param name="robot_description" 
              command="$(find xacro)/ '$(find rrbot_description)/urdf/rrbot.xacro'" />

  <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" 
                 args="-.1 0 .1 0 0 0  base_link tower_link 10" />
  <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" 
                 args="-.1 0 .2 0 0 0  tower_link hokuyo_frame 10" />
  <node pkg="tf" type="static_transform_publisher" name="link3_broadcaster" 
                 args="-.1 0 .2 -1.57 0 -1.57  tower_link camera_frame 10" />
  <node pkg="tf" type="static_transform_publisher" name="link4_broadcaster" 
                 args="-.13 -.13 .1 0 0 0  base_link left_wheel 10" />
  <node pkg="tf" type="static_transform_publisher" name="link5_broadcaster" 
                 args="-.13  .13 .1 0 0 0  base_link right_wheel 10" />

  <!-- Start rqt : note rrbot.rviz file must reside in launch dir -->
  <node name="rqt_gui" pkg="rqt_gui" type="rqt_gui" respawn="true">

  <!-- load the controllers -->
  <!-- and Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find rrbot_control)/config/rrbot_control.yaml" command="load"/>
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="true"
    output="screen" ns="/rrbot" args="--namespace=/rrbot

  <!-- start mapping server and  pass odom frame : creates map from laser -->
  <node name="gmapping_node" pkg="gmapping" type="slam_gmapping"  output="screen" respawn="true">
   <param name="occ_thresh"  value="0.05"/>
   <param name="map_update_interval"  value="0.05"/> 

  <!-- Moves robot based on goal command : Listen for goals posted as twist to robot base -->
  <node pkg="move_base" type="move_base" name="move_base" output="screen" respawn="true">
    <param name="controller_frequency" type="double" value="50.0" />
    <rosparam file="$(find rrbot_control)/config/move_base/costmap_common_params.yaml" 
              command="load" ns="global_costmap" />
    <rosparam file="$(find rrbot_control)/config/move_base/costmap_common_params.yaml" 
              command="load" ns="local_costmap" />
    <rosparam file="$(find rrbot_control)/config/move_base/local_costmap_params.yaml" 
    <rosparam file="$(find rrbot_control)/config/move_base/global_costmap_params.yaml" 
    <rosparam file="$(find rrbot_control)/config/move_base/base_local_planner_params.yaml" 
    <remap from="odom" to="/rrbot_combined_odom/odom"/>

  <!-- Take gazebo model state and setup map-odom-base_link-senors transforms -->
  <node pkg="rrbot_control" type="robot_odometry" name="rrbot_odometry" output="screen" respawn="true"/>

  <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="rrbot_combined_odom">
    <param name="output_frame" value="odom"/>
    <param name="freq" value="10.0"/>
    <param name="sensor_timeout" value="1.0"/>
    <param name="odom_used" value="true"/>
    <param name="vo_used" value="false"/>
    <param name="imu_used" value="true"/>
    <param name="debug" value="true"/>
    <param name="self_diagnose" value="true"/>
    <remap from="imu_data" to="/rrbot/imu_data"/>

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Closed for the following reason duplicate question by rnunziata
close date 2013-12-14 03:34:38