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tf message type error [closed]

asked 2015-09-18 04:35:52 -0500


I have written some codes to subscribe the /tf topic as below:

void msgcbTf(const geometry_msgs::TransformStamped & msgTf){
    ROS_INFO("Sequence ID:[%d]",msgTf.header.seq);
    ROS_INFO("msg time:[%d,%d]",msgTf.header.stamp.sec,msgTf.header.stamp.nsec);
int main(int argc, char *argv[])
    ros::NodeHandle n; 

    ros::Subscriber subTf=n.subscribe("tf",40,msgcbTf);
    ROS_INFO("Substribe /tf.");

There was a fatal error when the node run and the callback function msgcbTf had not been called successfully:

[ERROR] [1442566935.682455302]: Client [/CyberMapInfo] wants topic /tf to have datatype/md5sum [geometry_msgs/TransformStamped/b5764a33bfeb3588febc2682852579b0], but our version has [tf2_msgs/TFMessage/94810edda583a504dfda3829e70d7eec]. Dropping connection.

So what message type should I use to take place of geometry_msgs::TransformStamped in msgcbTf function or how can I solve this problem by other way?

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Closed for the following reason the question is answered, right answer was accepted by redskydeng
close date 2015-09-20 05:55:19.505171

1 Answer

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answered 2015-09-18 18:14:30 -0500

tfoote gravatar image

updated 2015-09-18 18:15:23 -0500

If you're trying to subscribe to the /tf topic you need to use the other datatype mentioned in your error message tf2_msgs/TFMessage

You could find that out by using rostopic info /tf.

I suggest you work through some of the core ROS tutorials which will help with your debugging.

It's also not recommended to subscribe to /tf directly but use a TransformListener as described in the tf Tutorials

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Thanks a lot!

redskydeng gravatar image redskydeng  ( 2015-09-20 05:54:46 -0500 )edit

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Asked: 2015-09-18 04:35:52 -0500

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Last updated: Sep 18 '15