md5sum error franka_msgs

asked 2019-03-11 03:39:00 -0600

MarkusHHN
54 ●15 ●17 ●22

updated 2019-03-11 17:05:20 -0600

jayess
6155 ●26 ●85 ●92

Hello,

i am using an IPC with Ubuntu 16.04.6 and ROS Kinetic. I would like to programm an subscriber which subscribe the franka_state_controller/franka_states because to solve my problem from the last post here: Impedance Control

When I try to subscribe this topics, than i get some error message:

[ERROR] [1552291056.204600387]: Client [/MoveRobot] wants topic /franka_state_controller/franka_states to have datatype/md5sum [franka_msgs/FrankaState/ed28b9cbecdc83fa7d31efb59f1ce010], but our version has [franka_msgs/FrankaState/7782ef1d208d3efc42f6a4cc3c41c065]. Dropping connection.

@Edit Add the function from my subscriber

Here is my function which i subscribe some data Source for the Subscriber :

franka_msgs::FrankaState contact;
void FrankaStateCallback (const franka_msgs::FrankaState& FState2)
{
    ROS_INFO("Callback gestartet");
    contact = FState2;
}

What is the trigger for the problem? How can I solve it?

Regards Markus

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This means that you're using a message type that a client on that topic isn't expecting.

jayess ( 2019-03-11 17:10:45 -0600 )edit

thank you for your answer, but i declared my variable in the same type of message, which use the topic

MarkusHHN ( 2019-03-12 01:51:41 -0600 )edit

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answered 2019-03-12 01:41:00 -0600

mgruhler

12390 ●32 ●193 ●173 https://github.com/mgruhler

updated 2019-03-12 01:43:24 -0600

This is usually the case when messages change between versions.

FrankaState actually changed a while back and this change hasn't been released yet.

So I guess you are compiling your subscriber against the unreleased version, whereas the MoveRobot client is implemented in a (I am guessing now) released version, i.e. the one installed in /opt/ros which has been compiled against the latest release (0.6.0) (or vice versa. Also, as you don't state which nodes you are using and I am not familiar with the franka setup, I am assuming that MoveRobot is from franka_ros and your subscriber is named otherwise.).

I don't know how you got to that stage, as this would require you to not clone the complete franka_ros repository, but just take the messages out of there.

You should clone and compile the full franka_ros package or use it entirely from debians, whatever makes more sense for you. But note that until franka_msgs is released again, you might encounter this problem whenever you move to a new machine/workspace....

Also note that this is a common problem when you have networked PCs, e.g. the PC running the robot controller using the old/new version and the PC you are using to compile the subscriber using the other....

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No this Node is my own, because i need some data from the robot for my application. Also I was thinking the same problem that i failed to build the full franka_ros package. Thats the reason, that i rebuild the full current franka_ros package yesterday with no sucess.

MarkusHHN ( 2019-03-12 02:50:56 -0600 )edit

alright. This clears things up (I should have been able to deduce this from the error message actually). But the rest of the analysis above should still hold...

mgruhler ( 2019-03-12 03:36:29 -0600 )edit

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answered 2019-03-12 03:28:35 -0600

MarkusHHN
54 ●15 ●17 ●22

updated 2019-03-12 03:33:13 -0600

I find the solution:

I forget to rework the CMakeList.txt to add the line franka_msgs in the find_package part

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  actionlib_msgs
  actionlib
  Eigen3
  moveit_ros_planning_interface
  trajectory_msgs
  franka_msgs
)

Thank you for all your help.

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1

even though this is required for the code to compile, this should not lead to the problem of shown above... franka_msgs was obviously found, otherwise it could not have been included in your code. How remains a mystery to me, however :-)

mgruhler ( 2019-03-12 03:35:30 -0600 )edit

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md5sum error franka_msgs

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