Dropping connection on geometry_msgs::Transform

pr2

asked 2013-01-09 08:43:28 -0600

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I am getting an error

[ERROR] [1357761577.273746553]: Client [/gazebo] wants topic /base_controller/command to have datatype/md5sum [geometry_msgs/Twist/9f195f881246fdfa2798d1d3eebca84a], but our version has [geometry_msgs/Transform/ac9eff44abf714214112b05d54a3cf9b]. Dropping connection.

when I initialize

vel_pub_ = n_.advertise<geometry_msgs::Transform>("cmd_vel", 1);

but if I do it

vel_pub_ =n_.advertise<geometry_msgs::Twist>("cmd_vel", 1);

it works fine ... why cant I do Transform

NOTE: I am trying to work on Pr2 simulator Gazebo..

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answered 2013-01-09 10:11:46 -0600

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The reason it crashes is simply because the topic you are publishing to is expecting a message of type geometry_msgs::Twist. So, that's the one to send. Simple as that!

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answered 2013-01-09 22:00:44 -0600

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Well then how do I make gazebo Pr2 to expect geometry_msgs::Transform type messages ??

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dornhege ( 2013-01-09 22:33:15 -0600 )edit

You'd have to modify the gazebo PR2 plugin. But I'd advise against doing that. /cmd_vel ist always expecting a Twist message. If you change that your code will not be compatible at all.

dornhege ( 2013-01-09 22:34:18 -0600 )edit

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Dropping connection on geometry_msgs::Transform

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