{"action":"closed","issue":{"url":"https://api.github.com/repos/ipa320/cob_control/issues/154","repository_url":"https://api.github.com/repos/ipa320/cob_control","labels_url":"https://api.github.com/repos/ipa320/cob_control/issues/154/labels{/name}","comments_url":"https://api.github.com/repos/ipa320/cob_control/issues/154/comments","events_url":"https://api.github.com/repos/ipa320/cob_control/issues/154/events","html_url":"https://github.com/ipa320/cob_control/issues/154","id":221501698,"number":154,"title":"Compability with ur_modern_driver","user":{"login":"ipa-bfb","id":17724148,"avatar_url":"https://avatars1.githubusercontent.com/u/17724148?v=3","gravatar_id":"","url":"https://api.github.com/users/ipa-bfb","html_url":"https://github.com/ipa-bfb","followers_url":"https://api.github.com/users/ipa-bfb/followers","following_url":"https://api.github.com/users/ipa-bfb/following{/other_user}","gists_url":"https://api.github.com/users/ipa-bfb/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-bfb/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-bfb/subscriptions","organizations_url":"https://api.github.com/users/ipa-bfb/orgs","repos_url":"https://api.github.com/users/ipa-bfb/repos","events_url":"https://api.github.com/users/ipa-bfb/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-bfb/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2017-04-13T09:04:52Z","updated_at":"2017-04-13T09:25:03Z","closed_at":"2017-04-13T09:25:03Z","body":"I successfully tested the new ur-modern_driver which allow us to send speed commands to the UR arm.\r\n\r\nHowever when I was trying to use it with twist controller I got the following:\r\n\r\n[ERROR] [1492072763.263901255]: Client [/arm/ur_driver] wants topic /arm/joint_group_velocity_controller/command to have datatype/md5sum [trajectory_msgs/JointTrajectory/65b4f94a94d1ed67169da35a02f33d3f], but our version has [std_msgs/Float64MultiArray/4b7d974086d4060e7db4613a7e6c3ba4]. Dropping connection.\r\n\r\nWhat do you recommend to do? Should we change the type in twist controller of the publish topic?"}}
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