Mavros Client md5sum Error
运行阿木实验室px4_commander包里vio_fly.sh的
roslaunch px4_command px4_pos_estimator.launch
时报错:
[ERROR]: Client [/mavros] wants topic /State to have datatype/md5sum [mavros_msgs/State/4048c9de2a16f4ae8e0538085ebf1b97], but our version has [mavros_msgs/State/18326976df9d29249efc939e00342cde]. Dropping connection.
(大致是这样,当时解决没保存)
这个问题的原因在于不同的ROS分布改变了可视化标记的MD5Sum值,以下为解决方案:
1.找到melodic的md5sum(我用的是ubuntu18.04),转到/opt/ros/melodic/include/mavros_msgs/State.h,找到对应的md5sum的值,即错误中的18326976df9d29249efc939e00342cde
2.用报错中期望的md5sum取代,即用4048c9de2a16f4ae8e0538085ebf1b97代替18326976df9d29249efc939e00342cde
3.将功能包重新编译:catkin_make
参考:https://answers.ros.org/question/261071/rviz-client-md5sum-error/