Apollo: dreamview error msg and rosbag play error msg

[westeast]

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System information

• OS Platform and Distribution (e.g., Linux Ubuntu 14.04):
• Apollo installed from (source ):
• Apollo version (3.0): but use rosbag2.5demo.bag

Steps to reproduce the issue:

• * do it as the howto launch apollo doc*:

Supporting materials (screenshots, command lines, code/script snippets):

rosbag error:

/localization] wants topic /apollo/sensor/gnss/corrected_imu to have datatype/md5sum [pb_msgs/CorrectedImu/81aef4a818ce273a8af85a440ccdb0f7], but our version has [pb_msgs/Imu/bdef0ba51869607ed95736d41e80c1f5]. Dropping connection.
/apollo/apollo-platform/ros/ros_comm/roscpp/src/libros/publication.cpp:629 Publication::validateHeader() [ERROR] [1535790343.963925255]: Client [/localization] wants topic /apollo/sensor/gnss/corrected_imu to have datatype/md5sum [pb_msgs/CorrectedImu/81aef4a818ce273a8af85a440ccdb0f7], but our version has [pb_msgs/Imu/bdef0ba51869607ed95736d41e80c1f5]. Dropping connection.
/apollo/apollo-platform/ros/ros_comm/roscpp/src/libros/publication.cpp:629 Publication::validateHeader() [ERROR] [1535790348.383386328]: Client [/localization] wants topic /apollo/sensor/gnss/corrected_imu to have datatype/md5sum [pb_msgs/CorrectedImu/81aef4a818ce273a8af85a440ccdb0f7], but our version has [pb_msgs/Imu/bdef0ba51869607ed95736d41e80c1f5]. Dropping connection.
/apollo/apollo-platform/ros/ros_comm/roscpp/src/libros/publication.cpp:629 Publication::validateHeader() [ERROR] [1535790353.204104335]: Client [/localization] wants topic /apollo/sensor/gnss/corrected_imu to have datatype/md5sum [pb_msgs/CorrectedImu/81aef4a818ce273a8af85a440ccdb0f7], but our version has [pb_msgs/Imu/bdef0ba51869607ed95736d41e80c1f5]. Dropping connection.
/apollo/apollo-platform/ros/ros_comm/roscpp/src/libros/publication.cpp:629 Publication::validateHeader() [ERROR] [1535790356.219694375]: Client [/localization] wants topic /apollo/sensor/gnss/corrected_imu to have datatype/md5sum [pb_msgs/CorrectedImu/81aef4a818ce273a8af85a440ccdb0f7], but our version has [pb_msgs/Imu/bdef0ba51869607ed95736d41e80c1f5]. Dropping connection.
/apollo/apollo-platform/ros/ros_comm/roscpp/src/libros/publication.cpp:629 Publication::validateHeader() [ERROR] [1535790359.635422385]: Client [/localization] wants topic /apollo/sensor/gnss/corrected_imu to have datatype/md5sum [pb_msgs/CorrectedImu/81aef4a818ce273a8af85a440ccdb0f7], but our version has [pb_msgs/Imu/bdef0ba51869607ed95736d41e80c1f5]. Dropping connection.
/apollo/apollo-platform/ros/ros_comm/roscpp/src/libros/publication.cpp:629 Publication::validateHeader() [ERROR] [1535790452.683335385]: Client [/localization] wants topic /apollo/sensor/gnss/corrected_imu to have datatype/md5sum [pb_msgs/CorrectedImu/81aef4a818ce273a8af85a440ccdb0f7], but our version has [pb_msgs/Imu/bdef0ba51869607ed95736d41e80c1f5]. Dropping connection.
/apollo/apollo-platform/ros/ros_comm/roscpp/src/libros/publication.cpp:629 Publication::validateHeader() [ERROR] [1535790461.753895375]: Client [/localization] wants topic /apollo/sensor/gnss/corrected_imu to have datatype/md5sum [pb_msgs/CorrectedImu/81aef4a818ce273a8af85a440ccdb0f7], but our version has [pb_msgs/Imu/bdef0ba51869607ed95736d41e80c1f5]. Dropping connection.

dreamview error msg
Hardware GPS triggers safety mode: No INS status message.

[zhxt]

The demo bag file may be outdated since codes are changed version to version.

As the error tells: /localization wants topic /apollo/sensor/gnss/corrected_imu to have datatype/md5sum :
[pb_msgs/CorrectedImu/81aef4a818ce273a8af85a440ccdb0f7]
but the bag file provides:
[pb_msgs/Imu/bdef0ba51869607ed95736d41e80c1f5].

when you examine the bag file with rosbag info, you will find:

...type: ...
pb_msgs/Imu                  [bdef0ba51869607ed95736d41e80c1f5]
...topics: ...
/apollo/sensor/gnss/corrected_imu          2000 msgs    : pb_msgs/Imu
...

but with Apollo 3.0, the message type of IMU has been changed to:
https://github.com/ApolloAuto/apollo/blob/6ed059981e76818de711d92fec9dbab3b67e1897/modules/localization/proto/imu.proto#L8

from (2.5 branch):
https://github.com/ApolloAuto/apollo/blob/6533b39b32d0d1da6d279b0ed7d846fb55b94be3/modules/localization/proto/imu.proto#L8

So, this could be the answer, I guess.

PS: git log -p modules/localization/proto/imu.proto tells the story :-P

[westeast]

@zhxt thanks very much , but where is the demo3.0.bag?

[zhxt]

@westeast Sorry, I do not know either, I didn't see there was a demo bag released along with Apollo 3.0.
Maybe you can contact the Official Team to make sure if there is a demo bag for 3.0.

[natashadsouza]

There was no 3.0 demo bag as there was no major addition to the core software modules from Apollo 2.5. Hence you could successfully use Demo Bag 2.5