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Error running move_base

asked 2020-07-28 19:31:58 -0600

boomer123 gravatar image

updated 2021-03-11 00:12:34 -0600

jayess gravatar image

what(): Tried to subscribe to a topic with the same name but different md5sum as a topic that was already subscribed [sensor_msgs/LaserScan/90c7ef2dc6895d81024acba2ac42f369 vs. sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca]

Error occurs when running move_base.launch

I am using a ZED camera and Ubuntu 18.04 paired with ROS melodic.

<launch>

 <include file="$(find zed_nodelet_example)/launch/zed_laserscan_nodelet.launch">
  <arg name="camera_model" value="zed"/>
 </include>
 <remap from="/scan" to="/zed/scan"/>
 <remap from="/zed/zed_nodelet/odom" to="odom" />

</launch> 

move_base launch file:
<launch>

   <master auto="start"/>
 <!-- Run the map server --> 
    <node name="map_server" pkg="map_server" type="map_server" args="$(find cleaningbot_2dnav)/my_map.pgm"/>

 <!--- Run AMCL --> 
    <include file="$(find amcl)/examples/amcl_omni.launch" />

   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find cleaningbot_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
    <rosparam file="$(find cleaningbot_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find cleaningbot_2dnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find cleaningbot_2dnav)/global_costmap_params.yaml" command="load" /> 
    <rosparam file="$(find cleaningbot_2dnav)/base_local_planner_params.yaml" command="load" />
 </node>

</launch>
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1 Answer

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answered 2020-10-29 03:16:04 -0600

rodrigo55 gravatar image

Hi,

Could you post the error message that the launch file is giving you, as well as the parameters in the .yaml files?

LaserScan and PointCloud messages are different types, so you can't directly subscribe to one another. If you can't convert one or the other, I suggest taking a look at this package:

http://wiki.ros.org/pointcloud_to_las...

Cheers

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Asked: 2020-07-28 19:31:58 -0600

Seen: 281 times

Last updated: Mar 11 '21