[rwt_moveit] datatype/md5sum error

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Hello everyone,

I'm trying to use rwt_moveit package alongside with cyton_gamma_300 moveit package on ROS Melodic. I can visualize the robot and the markers on the web page, but as soon I launch the /moveit_publisher node I get this error:

Client [/moveit_publisher] wants topic /move_group/result to have datatype/md5sum [moveit_msgs/MoveGroupActionResult/47ef72f231e49f6059f185fc18418665], but our version has [moveit_msgs/MoveGroupActionResult/6ee8682a508d60603228accdc4a2b30b]. Dropping connection.

So according to what I found in the community, this error occurs when two nodes try to communicate with each other, but from two different ROS environments (like one node from Indigo, and the other one from Kinetic). But in my case, all nodes are in the same ROS environment which is Melodic.

Here is the launch file:

<launch> <arg name="fixed_frame" default="/world"/> <arg name="is_sim" default="false"/>

<param name="fixed_frame" value="$(arg fixed_frame)" />
<param name="sim_mode" value="$(arg is_sim)" />

<include file="$(find cyton_gamma_300_moveit_config)/launch/demo.launch"/>

<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />

<node pkg="tf" type="static_transform_publisher" name="connect_start" args="0 0 0 0 0 0 $(arg fixed_frame) /start$(arg fixed_frame) 100" />

<node pkg="tf" type="static_transform_publisher" name="connect_goal" args="0 0 0 0 0 0 $(arg fixed_frame) /goal$(arg fixed_frame) 100" />

<!--node name="tf_web_republisher" pkg="py_tf2_web" type="tf_web_republisher.py" /-->
<node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" />

<node pkg="robot_state_publisher" type="robot_state_publisher" name="start_state_publisher_start">
    <remap from="joint_states" to="start_joint_states" />
    <param name="tf_prefix" type="string" value="start" />
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="goal_state_publisher_goal">
    <remap from="joint_states" to="goal_joint_states" />
    <param name="tf_prefix" type="string" value="goal" />
</node>

</launch>

Here are the info about the /move_group/result topic:

rostopic info /move_group/result Type: moveit_msgs/MoveGroupActionResult

Publishers: * /move_group (http://laresi-MS-7978:41113/)

Subscribers: * /moveit_publisher (http://laresi-MS-7978:38973/) * /rviz_laresi_MS_7978_6064_4036308910317907203 (http://laresi-MS-7978:43175/)

Can anyone, please, give me some advice or a clue? Thank you very much!