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pr2_arm_kinematics wrong md5 after upgrade, strange folders and compile errors on pr2 core packages

asked 2012-07-19 06:27:39 -0500

updated 2014-01-28 17:13:05 -0500

ngrennan gravatar image

I've been using pr2_control_utilities for some time and they are quite robust to changes in msgs and APIs. However yesterday, after an upgrade (I am running fuerte), the md5 of kinematics_msgs/GetPositionIK changed. Although I recompiled my code (it's in python, don't really know if it matters doing rosmake), the problem persisted. I've tried several make clean - make iterations on several packages. Here is the error that pr2_arm_kinematics reported:

client wants service /pr2_right_arm_kinematics/get_ik to have md5sum 877eea62385e0e095b5756ea4386623d, but it has 6d82fcb918d48c6d8a708bc55e34ace2. Dropping connection.

However if I do

rossrv md5 kinematics_msgs/GetPositionIK

I get 877eea62385e0e095b5756ea4386623d, so I though the client was right and the service provider pr2_arm_kinematics_constraint_aware had the wrong md5. Since this is obtained using apt-get I assumed that it was correctly compiled and linked. I tried to manually compile it, but I got the error:

[ 50%] Building CXX object CMakeFiles/pr2_arm_kinematics_constraint_aware_lib.dir/src/pr2_arm_kinematics_constraint_aware.o /opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics_constraint_aware/src/pr2_arm_kinematics_constraint_aware.cpp:44:35: fatal error: kinematics_msgs/utils.h: No such file or directory so something really strange is going on.

The kinematics_msgs folder only has the content:

cmake manifest.xml msg srv

And the generated messages are somewhere else, namely /opt/ros/fuerte/lib/python2.7/dist-packages/kinematics_msgs/srv.

What is the right md5? What am I doing wrong?

UPDATE

After some digging I found that the file arm_navigation/kinematics_msgs/srv_gen/cpp/include/kinematics_msgs/GetPositionIK.h has md5sum:

6d82fcb918d48c6d8a708bc55e34ace2

However in opt/ros/fuerte/include/kinematics_msgs/GetPositionIK.h it has:

877eea62385e0e095b5756ea4386623d

Same goes for the python and lisp files. I don't know why there's these repetitions of messages but it's creating confusion and mismatching problems.

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answered 2012-07-19 08:52:16 -0500

egiljones gravatar image

The only way you should have gotten kinematics_msgs in /opt/ros/fuerte/include is through installing ros-fuerte-moveit-msgs. It currently in the case that you can't really have this package installed and use arm_navigation at the same time. We'll try to figure out a way for these systems to co-exist, but for now I'd recommend de-installing moveit if you want to use arm_navigation.

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Comments

You're right!!! Thanks you saved my day! This should be written in bold face somewhere, it gave me big headaches in a very subtle way!

Lorenzo Riano gravatar image Lorenzo Riano  ( 2012-07-19 08:59:46 -0500 )edit

Would it be possible to mark the .deb packages as conflicting each other? Then only one can be installed at a time!

AHornung gravatar image AHornung  ( 2012-07-19 09:45:57 -0500 )edit

That would be the best solution.

Lorenzo Riano gravatar image Lorenzo Riano  ( 2012-07-19 11:01:58 -0500 )edit

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Asked: 2012-07-19 06:27:39 -0500

Seen: 667 times

Last updated: Jul 19 '12