[fetch] noeticのPCから:angle-vector が送れない

[mqcmd196]

CC: @ojh6404

NoeticのPCで

send *ri* :angle-vector (send *fetch* :reset-pose)

と打つと

[ERROR][1695539756.059976840][/fetch_eus_interface_1695539688740991090:ros.roseus]: attempted to call service  /get_planning_scene, but failed
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent odom) at time 1695539756.089352 according to authority unknown_publisher
         at line 278 in /home/obinata/ros/fetch_noetic_ws/src/geometry2/tf2/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent odom) at time 1695539756.129353 according to authority unknown_publisher
         at line 278 in /home/obinata/ros/fetch_noetic_ws/src/geometry2/tf2/src/buffer_core.cpp
[ERROR][1695539756.136141153][/fetch_eus_interface_1695539688740991090:ros.roseus]: attempted to call service  /plan_kinematic_path, but failed
;; motion plan error at nil
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent odom) at time 1695539756.129353 according to authority unknown_publisher
         at line 278 in /home/obinata/ros/fetch_noetic_ws/src/geometry2/tf2/src/buffer_core.cpp
[ERROR][1695539756.183252430][/fetch_eus_interface_1695539688740991090:ros.roseus]: attempted to call service  /get_planning_scene, but failed
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent odom) at time 1695539756.179292 according to authority unknown_publisher
         at line 278 in /home/obinata/ros/fetch_noetic_ws/src/geometry2/tf2/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (parent odom) at time 1695539756.239353 according to authority unknown_publisher
         at line 278 in /home/obinata/ros/fetch_noetic_ws/src/geometry2/tf2/src/buffer_core.cpp
[ERROR][1695539756.248810619][/fetch_eus_interface_1695539688740991090:ros.roseus]: attempted to call service  /check_state_validity, but failed
[ WARN][1695539756.249009018][/fetch_eus_interface_1695539688740991090:ros.roseus]: Collision is found in the current state.
nil
5.irteusgl$ Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link (pa

と返ってくる

[mqcmd196]

Fetch体内のmoveit_msgsのバージョン は0.10.1

fetch@fetch1075:/opt/ros/melodic/share/moveit_msgs$ cat package.xml 
<package format="2">
  <name>moveit_msgs</name>
  <version>0.10.1</version>
  <description>Messages, services and actions used by MoveIt</description>
  <author email="isucan@google.com">Ioan Sucan</author>
  <author email="sachinc@sri.com">Sachin Chitta</author>

  <maintainer email="dave@dav.ee">Dave Coleman</maintainer>
  <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
  <maintainer email="me@v4hn.de">Michael Goerner</maintainer>
  <maintainer email="rhaschke@techfak.uni-bielefeld.de">Robert Haschke</maintainer>
  <maintainer email="130s@2000.jukuin.keio.ac.jp">Isaac I. Y. Saito</maintainer>

  <license>BSD</license>  
  <url type="website">http://moveit.ros.org</url>
  <url type="bugtracker">https://github.com/ros-planning/moveit_msgs/issues</url>
  <url type="repository">https://github.com/ros-planning/moveit_msgs</url>

  <buildtool_depend>catkin</buildtool_depend>

  <depend>message_generation</depend>
  <depend>octomap_msgs</depend>
  <depend>actionlib_msgs</depend>
  <depend>sensor_msgs</depend>
  <depend>geometry_msgs</depend>
  <depend>trajectory_msgs</depend>
  <depend>shape_msgs</depend>
  <depend>object_recognition_msgs</depend>
  <depend>std_msgs</depend>

  <exec_depend>message_runtime</exec_depend>
</package>

で，noeticのaptのmoveit_msgsのバージョンは

❯ cat /opt/ros/noetic/share/moveit_msgs/package.xml
<package format="2">
  <name>moveit_msgs</name>
  <version>0.11.4</version>
  <description>Messages, services and actions used by MoveIt</description>
  <author email="isucan@google.com">Ioan Sucan</author>
  <author email="sachinc@sri.com">Sachin Chitta</author>

  <maintainer email="dave@dav.ee">Dave Coleman</maintainer>
  <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
  <maintainer email="me@v4hn.de">Michael Goerner</maintainer>
  <maintainer email="rhaschke@techfak.uni-bielefeld.de">Robert Haschke</maintainer>
  <maintainer email="130s@2000.jukuin.keio.ac.jp">Isaac I. Y. Saito</maintainer>

  <license>BSD</license>
  <url type="website">http://moveit.ros.org</url>
  <url type="bugtracker">https://github.com/ros-planning/moveit_msgs/issues</url>
  <url type="repository">https://github.com/ros-planning/moveit_msgs</url>

  <buildtool_depend>catkin</buildtool_depend>

  <depend>message_generation</depend>
  <depend>octomap_msgs</depend>
  <depend>actionlib_msgs</depend>
  <depend>sensor_msgs</depend>
  <depend>geometry_msgs</depend>
  <depend>trajectory_msgs</depend>
  <depend>shape_msgs</depend>
  <depend>object_recognition_msgs</depend>
  <depend>std_msgs</depend>

  <exec_depend>message_runtime</exec_depend>
</package>

なのでnoetic クライアント側のmoveit_msgsのバージョンをFetchに合わせてあげるのが一つの手

リポジトリ側の差分はこんな感じ