[ros-users] possible bug: pr2_arm_kinematics wrong md5 after upgrade, strange folders and compile errors on pr2 core packages

[Lorenzo Riano]

Ok, problem solved, it was a conflict with the moveit package. Maybe that
package shouldn't be released as a .deb, or clear warnings should be on the
wiki page.

Lorenzo

On Thu, Jul 19, 2012 at 11:19 AM, Lorenzo Riano
<lorenzo.riano at berkeley.edu>wrote:

> Michael,
>
> I've asked the same question on ROS answers and created a ticket on
> code.ros.org.
>
> After some digging I found that the file
> arm_navigation/kinematics_msgs/srv_gen/cpp/include/kinematics_msgs/GetPositionIK.h
> has md5sum:
>
> 6d82fcb918d48c6d8a708bc55e34ace2
>
> However in opt/ros/fuerte/include/kinematics_msgs/GetPositionIK.h it has:
>
> 877eea62385e0e095b5756ea4386623d
>
> So I guess some changes are ongoing but packages have been released too
> soon! And none of my code can work right now!
>
> Lorenzo
>
> Same goes for the python and lisp files. I don't know why there's these
> repetitions of messages but it's creating confusion and mismatching
> problems.
>
>
> On Thu, Jul 19, 2012 at 6:48 AM, Michael Carroll <
> carroll.michael at gmail.com> wrote:
>
>> I think that you may have better luck if you ask this question on
>> http://answers.ros.org, as per http://ros.org/wiki/Support
>>
>> Thanks,
>>
>> ~mc
>>
>> On Wed, Jul 18, 2012 at 10:09 PM, Lorenzo Riano <
>> lorenzo.riano at berkeley.edu> wrote:
>>
>>> 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 at berkeley.edu
>>> skype: lorenzo.riano
>>>
>>>
>>>
>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>>>
>>
>>
>> --
>> Michael Carroll
>> http://mjcarroll.net | carroll.michael at gmail.com | 513.407.1337
>>
>>
>> _______________________________________________
>> ros-users mailing list
>> ros-users at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>> --
>> Lorenzo Riano, PhD
>> Research Scientist
>> EECS
>> University of California Berkeley
>> Berkeley, CA
>> 94720
>>
>> email: <https://code.ros.org/mailman/listinfo/ros-users>
>> lorenzo.riano at berkeley.edu
>> skype: lorenzo.riano
>>
>>
>>
>>


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

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