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move_arm and arm_controller conflict over action interface message type

asked 2011-11-03 13:33:34 -0500

VN gravatar image

I changed in move_arm.launch from

<param name="controller_action_name" type="string" value="arm_controller/follow_joint_trajectory" />

to

<param name="controller_action_name" type="string" value="arm_controller/joint_trajectory_action" />

and hence my move_arm.launch is

<launch>
    <node pkg="move_arm" type="move_arm_simple_action" name="arm_tilt_laser_move_arm">
        <param name="group" type="string" value="arm" />
        <remap from="arm_ik" to="arm_tilt_laser_arm_kinematics/get_constraint_aware_ik" />
        <param name="controller_action_name" type="string" value="arm_controller/joint_trajectory_action" />
        <!--<param name="controller_action_name" type="string" value="arm_controller/follow_joint_trajectory" />-->
    </node>
</launch>

because my arm_controller is looking for arm_controller/joint_trajectory_action/goal ;arm_controller/joint_trajectory_action/cancel ....etc

and got the following error:

[ERROR] [1320368664.906687128, 19.071000000]: Client [/arm_controller/arm_joint_trajectory_action_node] wants topic /arm_controller/joint_trajectory_action/goal to have datatype/md5sum [pr2_controllers_msgs/JointTrajectoryActionGoal/aee77e81e3afb8d91af4939d603609d8], but our version has [control_msgs/FollowJointTrajectoryActionGoal/8f3e00277a7b5b7c60e1ac5be35ddfa2]. Dropping connection.
[ERROR] [1320368664.909130373, 19.103000000]: Client [/arm_tilt_laser_move_arm] wants topic /arm_controller/joint_trajectory_action/result to have datatype/md5sum [control_msgs/FollowJointTrajectoryActionResult/bce83d50f7bb28226801436caf0e2043], but our version has [pr2_controllers_msgs/JointTrajectoryActionResult/1eb06eeff08fa7ea874431638cb52332]. Dropping connection.
[ERROR] [1320368664.909281089, 19.103000000]: Client [/arm_tilt_laser_move_arm] wants topic /arm_controller/joint_trajectory_action/feedback to have datatype/md5sum [control_msgs/FollowJointTrajectoryActionFeedback/868e86353778bcb1c5689adaa01a40d7], but our version has [pr2_controllers_msgs/JointTrajectoryActionFeedback/aae20e09065c3809e8a8e87c4c8953fd]. Dropping connection.

I can understand from the error that move_arm being an action client (while interfacing to controller) is sending a goal message which is not of same type as arm_controller node action server listening to. same for feedback and result message type. I am using electric.

Is it because of new arm_navigation stack that move_arm message types has been changed for interfacing with arm_controller?? Anyone got this problem before? Need help please.

Thanks,

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answered 2011-11-04 12:56:37 -0500

Sachin Chitta gravatar image
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Asked: 2011-11-03 13:33:34 -0500

Seen: 407 times

Last updated: Nov 04 '11