On Mon, May 17, 2010 at 2:42 AM, Andreas Vogt
<andreasv@informatik.uni-bremen.de> wrote:
Hi,
I receive this message if I start my launch file:
[ERROR] 4.264000000: Client [/move_base] wants topic /base_laser to have
datatype/md5sum
[sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our
version has [sensor_msgs/LaserScan/90c7ef2dc6895d81024acba2ac42f369].
Dropping connection.
I use a simulated laser my launch file look like this:
<launch>
<!-- start world -->
<include file="$(find gazebo_worlds)/launch/office_world.launch"/>
<!-- start controller manager (rviz) -->
<include file="$(find pr2_controller_manager)/controller_manager.launch"/>
<!-- load AILA rover -->
<param name="robot_description" textfile="$(find
my_controller_pkg)/ailarover.xml" />
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_single_link" pkg="gazebo_tools" type="gazebo_model"
args="-p robot_description spawn -z 2" respawn="false" output="screen" />
<!--include file="$(find pr2_gazebo)/pr2.launch"/-->
<rosparam file="$(find my_controller_pkg)/my_controller.yaml"
command="load" />
<node pkg="pr2_controller_manager" type="spawner"
args="my_controller_ns" name="my_controller_spawner" />
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server"
args="$(find my_controller_pkg)/config/office.png 0.05"/>
<node pkg="tf" type="static_transform_publisher"
name="base_laser_to_base_link" args="0 0 0 1.57 0 0 base_link base_laser
100" />
<node pkg="tf" type="static_transform_publisher"
name="base_footprint_to_base_link" args="0 0 0 0 0 1.57 base_link
base_footprint 20" />
<!--- Run AMCL -->
<include file="$(find my_controller_pkg)/config/amcl.xml" />
<node pkg="move_base" type="move_base" respawn="false"
name="move_base" output="screen">
<rosparam file="$(find
my_controller_pkg)/config/costmap_common_params.yaml" command="load"
ns="global_costmap" />
<rosparam file="$(find
my_controller_pkg)/config/costmap_common_params.yaml" command="load"
ns="local_costmap" />
<rosparam file="$(find
my_controller_pkg)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find
my_controller_pkg)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find
my_controller_pkg)/config/base_local_planner_params.yaml" command="load" />
</node>
</launch>
and my laser is here in the costmap yaml:
observation_sources: base_scan
base_scan: {sensor_frame: base_laser_link, data_type: LaserScan,
expected_update_rate: 0.2,
observation_persistence: 0.0, marking: false, clearing: true,
min_obstacle_height: -0.08, max_obstalce_height: 2.0}
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