ROS message checksum mismatch between host computer and target robot

I'm using a windows laptop and ROS 1 to try communicate with a niryo one robot using Matlab 2024a. I have the ros messages downloaded from github and built on my laptop, and I have the ip address correctly set up, confirmed because when I run the ros nodes, the list of nodes, messages, etc. match what is on my robot, which I can ssh onto to check through its own terminal that all the ros names match up. The issue is that I can't send any form of movement command. I have been using the matlab gui and can read the robot's joint positions and send the calibration command, but movement commands do not seem to be received by the robot. When I print the message on my laptop, I can see the coordinates that I want to send, but when I print the message on the robot, it is empty. The issue appears to be that the checksums do not match between matlab and the robot's versions of the messages, if you could suggest a solution to this problem? I tried downloading the messages directly from the robot and then building them on my laptop, but the checksum didn't seem to change at all, on my laptop. I thought I had fully removed the old messages and cleared the cache, but I'm wondering if the matlab version itself also affects how the messages are built?

[Jagadeesh Konakalla]

Hi,

Couple of questions. I hope you are using ROS 2.

Which version of MATLAB that you are using ? The ROS Toolbox ships few standard messages and these messages definitions are as per the ROS 2 distribution that MATLAB supports. You can find the release and distribution support in the following page.

https://www.mathworks.com/help/ros/gs/ros-system-requirements.html

You can also use Custom message generation to register the custom messages with ROS Toolbox.

https://in.mathworks.com/help/ros/ref/ros2genmsg.html

Let me know if this helps or not

Jagadeesh K.

[Mohammed Raian]

Hi, unfortunately I'm not using ros 2, as the system on the robot is older and set up for ros 1. I'm using Matlab 2024a. I assume custom messages are also supported with ros 1?

[Jagadeesh Konakalla]

Yes, we support custom messages for ROS 1. We support Noetic for ROS1. What messages that you are talking about from gitthub ? Have you registeredted those custom messages with MATLAB using rosgenmsg or not ? If not, please do it. Please provide me some snapshots of the issue that you are facing.

[Mohammed Raian]

Apologies for the delay, I had used rosgenmsg to directly build messages that I took from the niryo robot itself, from its catkin workspace where it sources its messages from, as proven with the $ROS_PACKAGE_PATH variable and using rospack find niryo_one_msgs:

What I also discovered is that the md5 checksum actually doesn't match for 3 out of the 18 messages built between the robot and matlab, the below showing the robot's messages and some of those checksums, followed by a screenshot from most of the matlab checksums:

There are 3 messages that have mismatched checksums:

niryo_one_msgs/Trajectory

niryo_one_msgs/TrajectoryPlan

niryo_one_msgs/RobotMoveCommand

When I use rosmsg show on matlab for these commands, I am shown compressed defintions of each command:

>> rosmsg show niryo_one_msgs/Trajectory
int32 Id 
char Name 
char Description 
niryo_one_msgs/TrajectoryPlan TrajectoryPlan 

>> rosmsg show niryo_one_msgs/TrajectoryPlan
moveit_msgs/RobotState TrajectoryStart
char GroupName
moveit_msgs/RobotTrajectory Trajectory

>> rosmsg show niryo_one_msgs/RobotMoveCommand

int32 CmdType

double[] Joints
geometry_msgs/Point Position
niryo_one_msgs/RPY Rpy
niryo_one_msgs/ShiftPose Shift
niryo_one_msgs/TrajectoryPlan Trajectory
geometry_msgs/Pose PoseQuat
char  SavedPositionName
int32 SavedTrajectoryId 

niryo_one_msgs/ToolCommand ToolCmd

% In the future, allow a tool command to be launched at the same Time as an Arm command
% 3 choices : arm only, arm + tool, tool only
% bool use_tool 

Which match the .msg defintions on the robot in the ROS_PACKAGE_PATH location:

But don't match if I use rosmsg show, for example, this is what the output of the ssh terminal is for showing RobotMoveCommand:

niryo@niryo-desktop:~$ rosmsg show RobotMoveCommand
[niryo_one_msgs/RobotMoveCommand]:
int32 cmd_type
float64[] joints
geometry_msgs/Point position
  float64 x
  float64 y
  float64 z
niryo_one_msgs/RPY rpy
  float64 roll
  float64 pitch
  float64 yaw
niryo_one_msgs/ShiftPose shift
  int32 axis_number
  float64 value
niryo_one_msgs/TrajectoryPlan Trajectory
  moveit_msgs/RobotState trajectory_start
    sensor_msgs/JointState joint_state
      std_msgs/Header header
        uint32 seq
        time stamp
        string frame_id
      string[] name
      float64[] position
      float64[] velocity
      float64[] effort
    sensor_msgs/MultiDOFJointState multi_dof_joint_state
      std_msgs/Header header
        uint32 seq
        time stamp
        string frame_id
      string[] joint_names
      geometry_msgs/Transform[] transforms
        geometry_msgs/Vector3 translation
          float64 x
          float64 y
          float64 z
        geometry_msgs/Quaternion rotation
          float64 x
          float64 y
          float64 z
          float64 w
      geometry_msgs/Twist[] twist
        geometry_msgs/Vector3 linear
          float64 x
          float64 y
          float64 z
        geometry_msgs/Vector3 angular
          float64 x
          float64 y
          float64 z
      geometry_msgs/Wrench[] wrench
        geometry_msgs/Vector3 force
          float64 x
          float64 y
          float64 z
        geometry_msgs/Vector3 torque
          float64 x
          float64 y
          float64 z
    moveit_msgs/AttachedCollisionObject[] attached_collision_objects
      string link_name
      moveit_msgs/CollisionObject object
        byte ADD=0
        byte REMOVE=1
        byte APPEND=2
        byte MOVE=3
        std_msgs/Header header
          uint32 seq
          time stamp
          string frame_id
        string id
        object_recognition_msgs/ObjectType type
          string key
          string db
        shape_msgs/SolidPrimitive[] primitives
          uint8 BOX=1
          uint8 SPHERE=2
          uint8 CYLINDER=3
          uint8 CONE=4
          uint8 BOX_X=0
          uint8 BOX_Y=1
          uint8 BOX_Z=2
          uint8 SPHERE_RADIUS=0
          uint8 CYLINDER_HEIGHT=0
          uint8 CYLINDER_RADIUS=1
          uint8 CONE_HEIGHT=0
          uint8 CONE_RADIUS=1
          uint8 type
          float64[] dimensions
        geometry_msgs/Pose[] primitive_poses
          geometry_msgs/Point position
            float64 x
            float64 y
            float64 z
          geometry_msgs/Quaternion orientation
            float64 x
            float64 y
            float64 z
            float64 w
        shape_msgs/Mesh[] meshes
          shape_msgs/MeshTriangle[] triangles
            uint32[3] vertex_indices
          geometry_msgs/Point[] vertices
            float64 x
            float64 y
            float64 z
        geometry_msgs/Pose[] mesh_poses
          geometry_msgs/Point position
            float64 x
            float64 y
            float64 z
          geometry_msgs/Quaternion orientation
            float64 x
            float64 y
            float64 z
            float64 w
        shape_msgs/Plane[] planes
          float64[4] coef
        geometry_msgs/Pose[] plane_poses
          geometry_msgs/Point position
            float64 x
            float64 y
            float64 z
          geometry_msgs/Quaternion orientation
            float64 x
            float64 y
            float64 z
            float64 w
        byte operation
      string[] touch_links
      trajectory_msgs/JointTrajectory detach_posture
        std_msgs/Header header
          uint32 seq
          time stamp
          string frame_id
        string[] joint_names
        trajectory_msgs/JointTrajectoryPoint[] points
          float64[] positions
          float64[] velocities
          float64[] accelerations
          float64[] effort
          duration time_from_start
      float64 weight
    bool is_diff
  string group_name
  moveit_msgs/RobotTrajectory trajectory
    trajectory_msgs/JointTrajectory joint_trajectory
      std_msgs/Header header
        uint32 seq
        time stamp
        string frame_id
      string[] joint_names
      trajectory_msgs/JointTrajectoryPoint[] points
        float64[] positions
        float64[] velocities
        float64[] accelerations
        float64[] effort
        duration time_from_start
    trajectory_msgs/MultiDOFJointTrajectory multi_dof_joint_trajectory
      std_msgs/Header header
        uint32 seq
        time stamp
        string frame_id
      string[] joint_names
      trajectory_msgs/MultiDOFJointTrajectoryPoint[] points
        geometry_msgs/Transform[] transforms
          geometry_msgs/Vector3 translation
            float64 x
            float64 y
            float64 z
          geometry_msgs/Quaternion rotation
            float64 x
            float64 y
            float64 z
            float64 w
        geometry_msgs/Twist[] velocities
          geometry_msgs/Vector3 linear
            float64 x
            float64 y
            float64 z
          geometry_msgs/Vector3 angular
            float64 x
            float64 y
            float64 z
        geometry_msgs/Twist[] accelerations
          geometry_msgs/Vector3 linear
            float64 x
            float64 y
            float64 z
          geometry_msgs/Vector3 angular
            float64 x
            float64 y
            float64 z
        duration time_from_start
geometry_msgs/Pose pose_quat
  geometry_msgs/Point position
    float64 x
    float64 y
    float64 z
  geometry_msgs/Quaternion orientation
    float64 x
    float64 y
    float64 z
    float64 w
string saved_position_name
int32 saved_trajectory_id
niryo_one_msgs/ToolCommand tool_cmd
  uint8 tool_id
  uint8 cmd_type
  uint16 gripper_close_speed
  uint16 gripper_open_speed
  bool activate
  uint8 gpio

Let me know if there are any other helpful details I could provide, but this is just a very strange problem, expecially because I specifically copied from the robot to get these .msg, .srv and .action files, using:

scp -r niryo@10.10.10.10:~/catkin_ws/src/niryo_one_msgs "C:\myDevice"