Tried to advertise on topic [/move_group/filtered_cloud] with md5sum and datatype [sensor_msgs/Image], but the topic is already advertised as md5sum and datatype [sensor_msgs/PointCloud2]

1. 문제

 

Moveit assistant로 매니퓰레이터를 만든 다음

demo.launch로 파일을 실행하니 rviz 화면은 켜지는데 제목과 같은 오류 메시지가 나타났습니다.

 

2. 해결

인터넷을 뒤지다가 중국사이트를 참고해서 해결했습니다.

(https://blog.csdn.net/weixin_47266712/article/details/125451274)

 

config폴더에 sensors_3d.yaml 파일에 들어가서

두번째 filtered_cloud_topic의 이름을 filtered_cloud에서 filtered_cloud_image로 바꿔주면 됩니다.

# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
sensors:
  - filtered_cloud_topic: filtered_cloud
    max_range: 5.0
    max_update_rate: 1.0
    padding_offset: 0.1
    padding_scale: 1.0
    point_cloud_topic: /head_mount_kinect/depth_registered/points
    point_subsample: 1
    sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
  - far_clipping_plane_distance: 5.0
    filtered_cloud_topic: filtered_cloud_image
    image_topic: /head_mount_kinect/depth_registered/image_raw
    max_range: 5.0
    max_update_rate: 1.0
    near_clipping_plane_distance: 0.3
    padding_offset: 0.03
    padding_scale: 4.0
    point_cloud_topic: /head_mount_kinect/depth_registered/points
    point_subsample: 1
    queue_size: 5
    sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
    shadow_threshold: 0.2

 

이제 에러가 뜨지 않습니다