I think that you may have better luck if you ask this question on <a href="http://answers.ros.org">http://answers.ros.org</a>, as per <a href="http://ros.org/wiki/Support">http://ros.org/wiki/Support</a><br><br>Thanks,<br>
<br>~mc<br><br><div class="gmail_quote">On Wed, Jul 18, 2012 at 10:09 PM, Lorenzo Riano <span dir="ltr"><<a href="mailto:lorenzo.riano@berkeley.edu" target="_blank">lorenzo.riano@berkeley.edu</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
Folks,<br><br>I've been using <a href="http://ros.org/wiki/pr2_control_utilities" target="_blank">pr2_control_utilities</a> 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:<br>
<br>client wants service /pr2_right_arm_kinematics/get_ik to have md5sum 877eea62385e0e095b5756ea4386623d, but it has 6d82fcb918d48c6d8a708bc55e34ace2. Dropping connection.<br><br>However if I do <i>rossrv md5 kinematics_msgs/GetPositionIK</i> 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:<br>
<br>In file included from /opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/include/pr2_arm_kinematics/pr2_arm_ik.h:40:0,<br> from /opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_ik.cpp:34:<br>
/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<br> /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<br>
/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’<br> /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]<br>
/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&)’:<br>
/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_ik.cpp:127:3: error: ‘arm_navigation_msgs’ has not been declared<br> /opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_ik.cpp:127:36: error: expected ‘;’ before ‘limit’<br>
/opt/ros/fuerte/stacks/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_ik.cpp:129:3: error: ‘limit’ was not declared in this scope<br> make[3]: *** [CMakeFiles/pr2_arm_kinematics_lib.dir/src/pr2_arm_ik.o] Error 1<br clear="all">
<br>so something really strange is going on.<br><br>The kinematics_msgs folder only has the content: <br><br>cmake manifest.xml msg srv<br><br>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: <br>
<br>_md5sum = "bf9ee33930d9eaff390b8af4a213ba62"<br><br>BUMP! What is the right md5? What am I doing wrong?<span class="HOEnZb"><font color="#888888"><br><br>Lorenzo<br><br>-- <br>Lorenzo Riano, PhD<br>Research Scientist<br>
EECS<br>University of California Berkeley<br>
Berkeley, CA<br>94720<br><br>email: <a href="mailto:lorenzo.riano@berkeley.edu" target="_blank">lorenzo.riano@berkeley.edu</a><br>skype: lorenzo.riano<br><br>
<br><br>
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<br></blockquote></div><br><br clear="all"><br>-- <br>Michael Carroll<br><a href="http://mjcarroll.net" target="_blank">http://mjcarroll.net</a> | <a href="mailto:carroll.michael@gmail.com" target="_blank">carroll.michael@gmail.com</a> | 513.407.1337<br>
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