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Client [/rviz_15....] wants topic /odom to have datatype/md5sum [sensor_msgs/PointCloud/d8....], but our version has [nav_msgs/Odometry/cd... Dropping connection.

I’m getting this error: The robot launch file starts and all appears good. I start rviz then I get one Pose array dataset then this error

This message seems to indicate the required data type should be [sensor_msgs/PointCloud] However, all the ROS info seems to indicate the proper /odom data type is [nav_msgs/Odometry] At this time I suspect a AMCL or a RVIZ setup issue

Here is the AMCL launch file <launch> <node pkg="amcl" type="amcl" name="amcl" output="screen"> </node> </launch>

The RVIZ for PoseArray looks like this: Topic: 1 topic received Transform: Transform OK Topic: /particlecloud

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Client [/rviz_15....] wants topic /odom to have datatype/md5sum [sensor_msgs/PointCloud/d8....], but our version has [nav_msgs/Odometry/cd... Dropping connection.

I’m getting this error: The robot launch file starts and all appears good. I start rviz then I get one Pose array dataset then this error

[ERROR] [1556066738.031123079]: Client [/rviz_1556066697211260013] wants topic /odom to have datatype/md5sum [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our version has [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7]. Dropping connection.

This message seems to indicate the required data type should be [sensor_msgs/PointCloud] However, all the ROS info seems to indicate the proper /odom data type is [nav_msgs/Odometry] At this time I suspect a AMCL or a RVIZ setup issue

Here is the AMCL launch file file

<launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
                                   <!-- Publish scans from best pose at a max of 10 Hz -->
  <param name="odom_model_type" value="diff"/>
  <param name="odom_alpha5" value="0.1"/>
  <param name="transform_tolerance" value="0.5"/>
  <param name="initial_pose_x" value="-3.8"/>
  <param name="initial_pose_y" value="6.0"/>
  <param name="initial_pose_a" value="0.5"/>
  <param name="gui_publish_rate" value="1.0"/>
  <param name="laser_max_beams" value="30"/>
  <param name="min_particles" value="500"/>
  <param name="max_particles" value="5000"/>
  <param name="kld_err" value="0.05"/>
  <param name="kld_z" value="0.99"/>
  <param name="odom_alpha1" value="0.2"/>
  <param name="odom_alpha2" value="0.2"/>
  <!-- translation std dev, m -->
  <param name="odom_alpha3" value="0.8"/>
  <param name="odom_alpha4" value="0.2"/>
  <param name="laser_z_hit" value="0.5"/>
  <param name="laser_z_short" value="0.05"/>
  <param name="laser_z_max" value="0.05"/>
  <param name="laser_z_rand" value="0.5"/>
  <param name="laser_sigma_hit" value="0.2"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_model_type" value="likelihood_field"/>
  <!-- <param name="laser_model_type" value="beam"/> -->
  <param name="laser_likelihood_max_dist" value="2.0"/>
  <param name="update_min_d" value="0.2"/>
  <param name="update_min_a" value="0.5"/>
  <param name="odom_frame_id" value="odom"/>
  <param name="resample_interval" value="1"/>
  <param name="transform_tolerance" value="0.5"/>
  <param name="recovery_alpha_slow" value="0.0"/>
  <param name="recovery_alpha_fast" value="0.0"/>
</node>
</launch>

</launch>

The RVIZ for PoseArray looks like this: Topic: 1 topic received Transform: Transform OK Topic: /particlecloud

Client [/rviz_15....] wants topic /odom to have datatype/md5sum [sensor_msgs/PointCloud/d8....], but our version has [nav_msgs/Odometry/cd... Dropping connection.

I’m getting this error: The robot launch file starts and all appears good. I start rviz then I get one Pose array dataset then this error

[ERROR] [1556066738.031123079]: Client [/rviz_1556066697211260013] wants topic /odom to have datatype/md5sum [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our version has [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7]. Dropping connection.

This message seems to indicate the required data type should be [sensor_msgs/PointCloud] However, all the ROS info seems to indicate the proper /odom data type is [nav_msgs/Odometry] At this time I suspect a AMCL or a RVIZ setup issue

Here is the AMCL launch file

<launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
  <!-- Publish scans from best pose at a max of 10 Hz -->
  <param name="odom_model_type" value="diff"/>
  <param name="odom_alpha5" value="0.1"/>
  <param name="transform_tolerance" value="0.5"/>
  <param name="initial_pose_x" value="-3.8"/>
  <param name="initial_pose_y" value="6.0"/>
  <param name="initial_pose_a" value="0.5"/>
  <param name="gui_publish_rate" value="1.0"/>
  <param name="laser_max_beams" value="30"/>
  <param name="min_particles" value="500"/>
  <param name="max_particles" value="5000"/>
  <param name="kld_err" value="0.05"/>
  <param name="kld_z" value="0.99"/>
  <param name="odom_alpha1" value="0.2"/>
  <param name="odom_alpha2" value="0.2"/>
  <!-- translation std dev, m -->
  <param name="odom_alpha3" value="0.8"/>
  <param name="odom_alpha4" value="0.2"/>
  <param name="laser_z_hit" value="0.5"/>
  <param name="laser_z_short" value="0.05"/>
  <param name="laser_z_max" value="0.05"/>
  <param name="laser_z_rand" value="0.5"/>
  <param name="laser_sigma_hit" value="0.2"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_model_type" value="likelihood_field"/>
  <!-- <param name="laser_model_type" value="beam"/> -->
  <param name="laser_likelihood_max_dist" value="2.0"/>
  <param name="update_min_d" value="0.2"/>
  <param name="update_min_a" value="0.5"/>
  <param name="odom_frame_id" value="odom"/>
  <param name="resample_interval" value="1"/>
  <param name="transform_tolerance" value="0.5"/>
  <param name="recovery_alpha_slow" value="0.0"/>
  <param name="recovery_alpha_fast" value="0.0"/>
</node>
</launch>

The RVIZ for PoseArray looks like this: Topic: 1 topic received Transform: Transform OK Topic: /particlecloud

*********** 4/24/2019 - Charlie additional comments - evidently I cannot post images

Here are the PoseArray details Status: OK Topic: 1 message received Transform: Transform OK Topic: /particlecloud Unreliable: unchecked Color: 255,25,0 Arrow Length: 0.3

Client [/rviz_15....] wants topic /odom to have datatype/md5sum [sensor_msgs/PointCloud/d8....], but our version has [nav_msgs/Odometry/cd... Dropping connection.

I’m getting this error: The robot launch file starts and all appears good. I start rviz then I get one Pose array dataset then this error

[ERROR] [1556066738.031123079]: Client [/rviz_1556066697211260013] wants topic /odom to have datatype/md5sum [sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our version has [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7]. Dropping connection.

This message seems to indicate the required data type should be [sensor_msgs/PointCloud] However, all the ROS info seems to indicate the proper /odom data type is [nav_msgs/Odometry] At this time I suspect a AMCL or a RVIZ setup issue

Here is the AMCL launch file

<launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
  <!-- Publish scans from best pose at a max of 10 Hz -->
  <param name="odom_model_type" value="diff"/>
  <param name="odom_alpha5" value="0.1"/>
  <param name="transform_tolerance" value="0.5"/>
  <param name="initial_pose_x" value="-3.8"/>
  <param name="initial_pose_y" value="6.0"/>
  <param name="initial_pose_a" value="0.5"/>
  <param name="gui_publish_rate" value="1.0"/>
  <param name="laser_max_beams" value="30"/>
  <param name="min_particles" value="500"/>
  <param name="max_particles" value="5000"/>
  <param name="kld_err" value="0.05"/>
  <param name="kld_z" value="0.99"/>
  <param name="odom_alpha1" value="0.2"/>
  <param name="odom_alpha2" value="0.2"/>
  <!-- translation std dev, m -->
  <param name="odom_alpha3" value="0.8"/>
  <param name="odom_alpha4" value="0.2"/>
  <param name="laser_z_hit" value="0.5"/>
  <param name="laser_z_short" value="0.05"/>
  <param name="laser_z_max" value="0.05"/>
  <param name="laser_z_rand" value="0.5"/>
  <param name="laser_sigma_hit" value="0.2"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_model_type" value="likelihood_field"/>
  <!-- <param name="laser_model_type" value="beam"/> -->
  <param name="laser_likelihood_max_dist" value="2.0"/>
  <param name="update_min_d" value="0.2"/>
  <param name="update_min_a" value="0.5"/>
  <param name="odom_frame_id" value="odom"/>
  <param name="resample_interval" value="1"/>
  <param name="transform_tolerance" value="0.5"/>
  <param name="recovery_alpha_slow" value="0.0"/>
  <param name="recovery_alpha_fast" value="0.0"/>
</node>
</launch>

The RVIZ 4/25/2019 - Thank you gvdhoorn for PoseArray looks like this: Topic: 1 topic received Transform: Transform OK Topic: /particlecloud

*********** 4/24/2019 boosting my karma - Charlie additional comments I will keep my images limited to GUI's - evidently I cannot post images

Here are the PoseArray details Status: OK Topic: 1 message received Transform: Transform OK Topic: /particlecloud Unreliable: unchecked Color: 255,25,0 Arrow Length: 0.3Charlie

image description image description image description