Folks,

I've been using
pr2_control_utilities<http://ros.org/wiki/pr2_control_utilities>for
some time and they are quite robust to changes in msgs and APIs.
However today, after an upgrade on fuerte, the md5 of
kinematics_msgs/GetPositionIK changed. Although I recompiled my code (it's
all 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 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:

In file included from
/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/include/pr2_arm_kinematics/pr2_arm_ik.h:40:0,
                   from
/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_ik.cpp:34:

/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/include/pr2_arm_kinematics/pr2_arm_kinematics_utils.h:104:24:
error: ‘arm_navigation_msgs’ has not been declared

/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/include/pr2_arm_kinematics/pr2_arm_kinematics_utils.h:104:57:
error: ‘robot_state’ was not declared in this scope

/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/include/pr2_arm_kinematics/pr2_arm_kinematics_utils.h:105:24:
error: expected primary-expression before ‘const’

/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/include/pr2_arm_kinematics/pr2_arm_kinematics_utils.h:105:78:
error: expression list treated as compound expression in initializer
[-fpermissive]

/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_ik.cpp:
In member function ‘void
pr2_arm_kinematics::PR2ArmIK::addJointToChainInfo(boost::shared_ptr<const
urdf::Joint>, kinematics_msgs::KinematicSolverInfo&)’:

/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_ik.cpp:127:3:
error: ‘arm_navigation_msgs’ has not been declared

/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_ik.cpp:127:36:
error: expected ‘;’ before ‘limit’

/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_ik.cpp:129:3:
error: ‘limit’ was not declared in this scope
  make[3]: *** [CMakeFiles/pr2_arm_kinematics_lib.dir/src/pr2_arm_ik.o]
Error 1

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. There if
open _GetPositionIK.py I get:

_md5sum = "bf9ee33930d9eaff390b8af4a213ba62"

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

Lorenzo

-- 
Lorenzo Riano, PhD
Research Scientist
EECS
University of California Berkeley
Berkeley, CA
94720

email: lorenzo.riano@berkeley.edu
skype: lorenzo.riano