ar_pose artoolkit problem

asked 2011-12-06 21:27:50 -0600

Maurizio88
155 ●21 ●24 ●31

hi all, i'm working with ar_pose package. When i try to run demo:

roslaunch ar_pose demo_single.launch

the demo doesn't run correctly and see this message from terminal.

[ERROR] [1323256898.236396302]: Client [/ar_pose] wants topic /usb_cam/camera_info to have datatype/md5sum [sensor_msgs/CameraInfo/c9a58c1b0b154e0e6da7578cb991d214], but our version has [sensor_msgs/CameraInfo/1b5cf7f984c229b6141ceb3a955aa18f]. Dropping connection. [ERROR] [1323256908.957549386, 1275671534.365555223]: Client [/rviz] wants topic /usb_cam/camera_info to have datatype/md5sum [sensor_msgs/CameraInfo/c9a58c1b0b154e0e6da7578cb991d214], but our version has [sensor_msgs/CameraInfo/1b5cf7f984c229b6141ceb3a955aa18f]. Dropping connection.Dropping connection.

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answered 2011-12-08 18:33:40 -0600

Procópio

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You can solve this issue running the rosbag fix command on your downloaded bag files. The program will work, but still there is going to be some issues with the markers drawing. This issue and its fix is explained here. But have in mind that this fix is only for the demos. If you run the node with your camera, things should be ok. regards.

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answered 2011-12-07 01:08:41 -0600

DimitriProsser

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ar_pose is looking at a version of the message with different fields than it expects. If the message description of sensor_msgs::CameraInfo is different between the topic and the subscriber, you will see this error. Since Rviz is having the same problem, I would guess that whatever node is publishing /usb_cam/camera_info is publishing incorrectly or is from an older version of ROS than you're using.