Error using ExampleHel​perGazeboC​ommunicato​r/startMod​elServices (line 334)

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Hi all.
I am trying to receive feedback from the position of a model in Gazebo, but I get the following error when using the command:
G = ExampleHelperGazeboSpawnedModel('quadrotor',gazebo)
Error using ExampleHelperGazeboCommunicator/startModelServices (line 334)
Failed to create a /gazebo/get_model_state service client.
Error in ExampleHelperGazeboSpawnedModel (line 56)
startModelServices(World);
Error in untitled (line 13)
G = ExampleHelperGazeboSpawnedModel('quadrotor',gazebo)
[ERROR] ServiceClientHandshakeHandler - Service client handshake failed: client wants service /gazebo/get_model_state to have md5sum af0f702011820738976b120226dc9d96, but it has 4c515e936d3319c9610c559c60bfc3d4. Dropping connection.
What I want to do is that the parrot ar drone 2.0 robot follows a PRM trajectory, additional if someone advises me how to drive the robot I will be very grateful.
-------- Eerror in the linux terminal
ERROR] [1551534162.664139629, 1534.146000000]: client wants service /gazebo/get_model_state to have md5sum af0f702011820738976b120226dc9d96, but it has 4c515e936d3319c9610c559c60bfc3d4. Dropping connection.
[ERROR] [1551539818.406591836, 2180.810000000]: poll failed with error Llamada al sistema interrumpida
[ERROR] [1551539818.930307029, 2180.810000000]: poll failed with error Interrupted system call
- The version of ROS that I am working on is: Kinetic
- The MAtlab Verision: R2016B
- Ubuntu 16.04 LTS
I hope for your kind cooperation
Thank you.

Risposte (1)

Cam Salzberger
Cam Salzberger il 4 Mar 2019
Hello Santiago,
The md5 checksum having a different value is indicating that the ROS message does not match the expected message definition. This most commonly occurs because the message definition has changed between ROS versions, and you are sending a message with one version and receiving it with another.
I believe that in R2016b, the Robotics System Toolbox supported ROS Hydro. Even in R2018b it still is supporting Hydro and Indigo, not Kinetic. To use Kinetic message definitions with MATLAB, you will need to use the custom message support package to update the message definitions. See this post for detailed instructions.
-Cam

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