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Connection dropped due to datatype mismatch #37

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ravijo opened this issue Oct 23, 2023 · 1 comment
Open

Connection dropped due to datatype mismatch #37

ravijo opened this issue Oct 23, 2023 · 1 comment
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bug Something isn't working

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@ravijo
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ravijo commented Oct 23, 2023

Commit

At which commit was the issue/bug observed?
00a05fb

Steps to reproduce

How can the issue/bug be reproduced?

  1. $ roslaunch pilz_tutorial my_application.launch 
    user@dell:~$ roslaunch pilz_tutorial my_application.launch
... logging to /home/user/.ros/log/ddf267a8-718b-11ee-8ba5-080027c21e0e/roslaunch-dell-9817.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://dell:35553/

SUMMARY
========

PARAMETERS
 * /controller_joint_names: ['prbt_joint_1', ...
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: pilz_trajectory_g...
 * /move_group/controller_list: [{'joints': ['prb...
 * /move_group/disable_capabilities: 
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planning_plugin: pilz::CommandPlanner
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: 
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/manipulator/kinematics_solver: prbt_manipulator/...
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/manipulator/link_prefix: prbt_
 * /robot_description_planning/cartesian_limits/max_rot_vel: 1.57
 * /robot_description_planning/cartesian_limits/max_trans_acc: 2.25
 * /robot_description_planning/cartesian_limits/max_trans_dec: -5
 * /robot_description_planning/cartesian_limits/max_trans_vel: 1
 * /robot_description_planning/joint_limits/prbt_joint_1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/prbt_joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/prbt_joint_1/max_acceleration: 3.49
 * /robot_description_planning/joint_limits/prbt_joint_1/max_velocity: 1.57
 * /robot_description_planning/joint_limits/prbt_joint_2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/prbt_joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/prbt_joint_2/max_acceleration: 3.49
 * /robot_description_planning/joint_limits/prbt_joint_2/max_velocity: 1.57
 * /robot_description_planning/joint_limits/prbt_joint_3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/prbt_joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/prbt_joint_3/max_acceleration: 3.49
 * /robot_description_planning/joint_limits/prbt_joint_3/max_velocity: 1.57
 * /robot_description_planning/joint_limits/prbt_joint_4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/prbt_joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/prbt_joint_4/max_acceleration: 3.49
 * /robot_description_planning/joint_limits/prbt_joint_4/max_velocity: 1.57
 * /robot_description_planning/joint_limits/prbt_joint_5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/prbt_joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/prbt_joint_5/max_acceleration: 3.49
 * /robot_description_planning/joint_limits/prbt_joint_5/max_velocity: 1.57
 * /robot_description_planning/joint_limits/prbt_joint_6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/prbt_joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/prbt_joint_6/max_acceleration: 3.49
 * /robot_description_planning/joint_limits/prbt_joint_6/max_velocity: 1.57
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /rviz_dell_9817_1454211227641441403/manipulator/kinematics_solver: prbt_manipulator/...
 * /rviz_dell_9817_1454211227641441403/manipulator/kinematics_solver_search_resolution: 0.005
 * /rviz_dell_9817_1454211227641441403/manipulator/kinematics_solver_timeout: 0.005
 * /rviz_dell_9817_1454211227641441403/manipulator/link_prefix: prbt_
 * /source_list: ['/move_group/fak...

NODES
  /
    disable_speed_monitoring (rosservice/rosservice)
    fake_speed_override_node (prbt_hardware_support/fake_speed_override_node)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_dell_9817_1454211227641441403 (rviz/rviz)

auto-starting new master
process[master]: started with pid [9840]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ddf267a8-718b-11ee-8ba5-080027c21e0e
process[rosout-1]: started with pid [9851]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [9858]
process[joint_state_publisher-3]: started with pid [9859]
process[fake_speed_override_node-4]: started with pid [9860]
process[disable_speed_monitoring-5]: started with pid [9867]
process[move_group-6]: started with pid [9873]
process[rviz_dell_9817_1454211227641441403-7]: started with pid [9874]
[ERROR] [1698055604.232944654]: Virtual joint does not attach to a link on the robot (link 'world' is not known)
[ INFO] [1698055604.233532516]: Loading robot model 'prbt'...
[ INFO] [1698055604.233549850]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1698055604.257585250]: Using link_prefix: 'prbt_'
[ INFO] [1698055604.270894759]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1698055604.272440673]: rviz version 1.13.30
[ INFO] [1698055604.272467163]: compiled against Qt version 5.9.5
[ INFO] [1698055604.272474875]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1698055604.272776483]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1698055604.272797438]: Starting planning scene monitor
[ INFO] [1698055604.275054760]: Listening to '/planning_scene'
[ INFO] [1698055604.275086436]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1698055604.277722790]: Forcing OpenGl version 0.
[ INFO] [1698055604.278896669]: Listening to '/collision_object'
[ INFO] [1698055604.279656433]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1698055604.279922786]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1698055604.282648926]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ WARN] [1698055604.284456429]: DEPRECATION NOTE: This planner has been integrated into MoveIt. Please consider using the pilz_industrial_motion_planner: https://moveit.ros.org/documentation/planners/
[ INFO] [1698055604.284485248]: Reading limits from namespace /robot_description_planning
[ INFO] [1698055604.290799936]: Available plugins: pilz::PlanningContextLoaderCIRC pilz::PlanningContextLoaderLIN pilz::PlanningContextLoaderPTP 
[ INFO] [1698055604.290819439]: About to load: pilz::PlanningContextLoaderCIRC
[ INFO] [1698055604.291559172]: Registered Algorithm [CIRC]
[ INFO] [1698055604.291575085]: About to load: pilz::PlanningContextLoaderLIN
[ INFO] [1698055604.292208164]: Registered Algorithm [LIN]
[ INFO] [1698055604.292225455]: About to load: pilz::PlanningContextLoaderPTP
[ INFO] [1698055604.292932809]: Registered Algorithm [PTP]
[ INFO] [1698055604.292957931]: Using planning interface 'Simple Command Planner'
[ INFO] [1698055604.295363140]: Fake controller 'fake_manipulator_controller' with joints [ prbt_joint_1 prbt_joint_2 prbt_joint_3 prbt_joint_4 prbt_joint_5 prbt_joint_6 ]
[ INFO] [1698055604.295520899]: Returned 1 controllers in list
[ INFO] [1698055604.298878600]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
Loading 'pilz_trajectory_generation/MoveGroupSequenceAction'...
[ INFO] [1698055604.321790731]: initialize move group sequence action
[ INFO] [1698055604.325524750]: Reading limits from namespace /robot_description_planning
Loading 'pilz_trajectory_generation/MoveGroupSequenceService'...
[ INFO] [1698055604.333966218]: Reading limits from namespace /robot_description_planning
[ INFO] [1698055604.340075339]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
*     - SequenceAction
*     - SequenceService
********************************************************

[ INFO] [1698055604.340104250]: MoveGroup context using planning plugin pilz::CommandPlanner
[ INFO] [1698055604.340110808]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1698055604.342175953]: Stereo is NOT SUPPORTED
[ INFO] [1698055604.342227893]: OpenGL device: llvmpipe (LLVM 10.0.0, 256 bits)
[ INFO] [1698055604.342245254]: OpenGl version: 3.1 (GLSL 1.4).
[ERROR] [1698055607.515708641]: Virtual joint does not attach to a link on the robot (link 'world' is not known)
[ INFO] [1698055607.515864883]: Loading robot model 'prbt'...
[ INFO] [1698055607.515883819]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1698055607.527616629]: Using link_prefix: 'prbt_'
[ INFO] [1698055607.549095012]: Starting planning scene monitor
[ INFO] [1698055607.550317901]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1698055607.602223482]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ INFO] [1698055608.802473870]: Ready to take commands for planning group manipulator.
[ INFO] [1698055608.802667228]: Looking around: no
[ INFO] [1698055608.802804981]: Replanning: no
[ERROR] [1698055620.446190771]: Client [/robot_program_node] wants topic /sequence_move_group/result to have datatype/md5sum [moveit_msgs/MoveGroupSequenceActionResult/e995e5b2d6c322a0395df341caa51d8e], but our version has [pilz_msgs/MoveGroupSequenceActionResult/bcd43e7481eddf90e6befe0e8788d0a3]. Dropping connection.
[ INFO] [1698055622.067877713]: Combined planning and execution request received for MoveGroupSequenceAction.
[ INFO] [1698055622.068104512]: Planning attempt 1 of at most 1
[ INFO] [1698055622.068497247]: Initialized Point-to-Point Trajectory Generator.
[ INFO] [1698055622.068779978]: Generating PTP trajectory...
[ INFO] [1698055622.075961100]: Disabling trajectory recording
[ INFO] [1698055622.167696443]: Fake execution of trajectory
[ INFO] [1698055625.568031230]: Completed trajectory execution with status SUCCEEDED ...
  2. $ rosrun pilz_tutorial myFirstApplication.py 
    user@dell:~$ rosrun pilz_tutorial myFirstApplication.py
[INFO] [1698055620.443937]: Waiting for connection to action server sequence_move_group...
[INFO] [1698055620.660026]: Waiting for connection to service /prbt/get_speed_override...
[INFO] [1698055620.662836]: Connection to service /prbt/get_speed_override established
[INFO] [1698055620.663873]: Program started
[INFO] [1698055620.664839]: Move: Ptp
[ERROR] [1698055620.670411636]: Virtual joint does not attach to a link on the robot (link 'world' is not known)
[ INFO] [1698055620.670870030]: Loading robot model 'prbt'...
[ INFO] [1698055620.670887655]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1698055620.691954461]: Using link_prefix: 'prbt_'
[INFO] [1698055620.694229]: RobotCommander created.
[ INFO] [1698055621.755237555]: Ready to take commands for planning group manipulator.

Expected behavior

Robot should move inside RViz

Observed behavior

[ERROR] [1698055620.446190771]: Client [/robot_program_node] wants topic /sequence_move_group/result to have datatype/md5sum [moveit_msgs/MoveGroupSequenceActionResult/e995e5b2d6c322a0395df341caa51d8e], but our version has [pilz_msgs/MoveGroupSequenceActionResult/bcd43e7481eddf90e6befe0e8788d0a3]. Dropping connection.

Package Info.

user@dell:~$ apt-cache policy ros-melodic-pilz-robots
ros-melodic-pilz-robots:
  Installed: 0.5.23-1bionic.20230524.174426
  Candidate: 0.5.23-1bionic.20230524.174426
  Version table:
 *** 0.5.23-1bionic.20230524.174426 500
        500 http://packages.ros.org/ros/ubuntu bionic/main amd64 Packages
        100 /var/lib/dpkg/status

user@dell:~$ apt-cache policy ros-melodic-pilz-industrial-motion
ros-melodic-pilz-industrial-motion:
  Installed: 0.4.14-1bionic.20230524.180108
  Candidate: 0.4.14-1bionic.20230524.180108
  Version table:
 *** 0.4.14-1bionic.20230524.180108 500
        500 http://packages.ros.org/ros/ubuntu bionic/main amd64 Packages
        100 /var/lib/dpkg/status

System Info.

user@dell:~$ lsb_release -a
No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 18.04.6 LTS
Release:	18.04
Codename:	bionic

user@dell:~$ uname -a
Linux dell 5.4.0-150-generic #167~18.04.1-Ubuntu SMP Wed May 24 00:51:42 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux

user@dell:~$ gcc --version
gcc (Ubuntu 7.5.0-3ubuntu1~18.04) 7.5.0
Copyright (C) 2017 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

user@dell:~$ python --version
Python 2.7.17

user@dell:~$ python3 --version
Python 3.6.9
@ravijo ravijo added the bug Something isn't working label Oct 23, 2023
@ravijo ravijo mentioned this issue Oct 23, 2023
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@ravijo
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ravijo commented Oct 24, 2023

After minor tweaks, it works with ROS Noetic!
Please check #38

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