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Moveit-Pkg for Industrial Robot demo.launch Error: Topics already advertised

asked 2021-10-12 04:35:26 -0600

nicob gravatar image

Hi!

I created a Moveit pkg for an industrial robotaccordingly accordingly to this tutorial: http://wiki.ros.org/Industrial/Tutori...

I descripted the details of creation in this topic: https://answers.ros.org/question/388052/

By starting the demo.launch file of the created Moveit pkg, I get the following error messages in the console (extract of the msgs):

[ERROR] [1634028447.292051560]: Tried to advertise on topic [/move_group/filtered_cloud] with md5sum [060021388200f6f0f447d0fcd9c64743] and datatype [sensor_msgs/Image], but the topic is already advertised as md5sum [1158d486dd51d683ce2f1be655c3c181] and datatype [sensor_msgs/PointCloud2] [ERROR] [1634028447.351906519]: Tried to advertise a service that is already advertised in this node [/move_group/model_depth/compressedDepth/set_parameters] [ERROR] [1634028447.360087750]: Tried to advertise a service that is already advertised in this node [/move_group/model_depth/compressed/set_parameters] [ERROR] [1634028447.370438152]: Tried to advertise a service that is already advertised in this node [/move_group/model_depth/theora/set_parameters] [ERROR] [1634028447.379754426]: Tried to advertise a service that is already advertised in this node [/move_group/filtered_cloud/compressedDepth/set_parameters]

I cleaned the hole workspace and rebuild it. It was not sucessfully.

Any ideas? Thanks in advance!

nico

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It was possible to enclose the problem to the 3D Perception dialog in the MSA. After choosing none 3D sensor and rebuilding the pkg I get a different error message:

[ERROR] [1634119626.229128810]: No sensor plugin specified for octomap updater 0; ignoring.
[ERROR] [1634119626.229179307]: No sensor plugin specified for octomap updater 1; ignoring.
[ERROR] [1634119626.229206627]: No sensor plugin specified for octomap updater 2; ignoring.
[ERROR] [1634119626.229233106]: No sensor plugin specified for octomap updater 3; ignoring.
[ERROR] [1634119626.229258349]: No sensor plugin specified for octomap updater 4; ignoring.
[ERROR] [1634119626.229285494]: No sensor plugin specified for octomap updater 5; ignoring.
[ERROR] [1634119626.229312619]: No sensor plugin specified for octomap updater 6; ignoring.
[ERROR] [1634119626.229338662]: No sensor plugin specified for octomap updater 7; ignoring.

Any ideas? ;-)

nicob gravatar image nicob  ( 2021-10-13 05:13:08 -0600 )edit

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answered 2023-06-27 10:36:46 -0600

130s gravatar image
[ERROR] [1634028447.292051560]: Tried to advertise on topic [/move_group/filtered_cloud] with md5sum [060021388200f6f0f447d0fcd9c64743] and datatype [sensor_msgs/Image], but the topic is already advertised as md5sum [1158d486dd51d683ce2f1be655c3c181] and datatype [sensor_msgs/PointCloud2]

(Despite this being an old topic) You may have got this point passed on by the time you posed the last comment, but I see this output indicates three issues:

  • Topic name collision. Your node is trying to pub with the name /move_group/filtered_cloud but it's already published by another node.
  • Message type mismatch. Your node is trying to pub with a type sensor_msgs/Image, but the already-published topic (which is another issue as mentioned already) is in the type sensor_msgs/PointCloud2
  • Message SHA mismatch. This is obvious from the 2nd issue as the msg types don't match.

However, the core of the issue is the first one (and the rest is just byproduct of the first one). Without seeing I can't tell what's the other node that is publishing /move_group/filtered_cloud. During runtime you can check by

  • rostopic info %TOPICNAME%
  • ros2 topic info -v %TOPICNAME%
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Asked: 2021-10-12 04:35:26 -0600

Seen: 150 times

Last updated: Jun 27 '23