Map compatability issue with move_base and gmapping...

asked 2011-04-29 19:09:54 -0500

BlackManta
56 ●11 ●15 ●17

One more quick question when I run gmapping, I am getting a cool map but when I try to run move_base I get the following error:

[ERROR] [1304145896.391400959, 492.700000000]: Client [/move_base_node] wants topic /odom to have datatype/md5sum [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7], but our version has [geometry_msgs/PoseWithCovarianceStamped/953b798c0f514ff060a53a3498ce6246]. Dropping connection.

Obviously move_base is expecting a md5sum but gmapping doesn't provide it as far as I know, any way to change it?

thanks, BM

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answered 2011-04-30 01:10:50 -0500

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

The "/odom" topic is provided by the robot, not gmapping or move_base. The "/odom" information is needed by the base_local_planner portion of move_base, whereas gmapping uses only the laser scan and tf information.

How is your robot publishing /odom? Have you seen this tutorial: http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom

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answered 2011-04-30 09:36:26 -0500

BlackManta
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sorry I just realized it didn't have anything to do with gmapping. I am getting a /odom from stage, is there a way to "cast" data types from command line?

sorry about that, BM