Publishing OccupancyGrid Message to ROS

[AbbasSidaoui]

Hello,
Thank you for your work!
I am using your library to send and receive some SLAM maps between unity and ROS. I have succeeded in sending OccupancyGrid msgs from ROS to Unity. However, when trying to send msg back from Unity I am having the "op" error below:

[ERROR] [WallTime: 1514206643.195341] [Client 1] Received a message without an op. All messages require 'op' field with value one of: ['service_response', 'unadvertise_service', 'call_service', 'publish', 'fragment', 'subscribe', 'advertise_service', 'unsubscribe', 'unadvertise', 'advertise']. Original message was:

{"op": "publish",
"topic": "/Unitymap",
"msg": {
"info":
{"origin":
{"position": {"y": -10, "x": -10, "z": 0}, "orientation": {"y": 0, "x": 0, "z": 0, "w": 1}},
"width": 192,
"map_load_time": {"secs": 0, "nsecs": 0},
"resolution": 0.1,
"height": 192},
"header":
{"stamp": {"secs": 1514206624, "nsecs": 631136325},
"frame_id"= "map",
"seq": 2422},
"data":[0,0,0,0,0,0,0,0,0]}} --->> I deleted the data to save some space here.

I have been stuck in this a error for a while, your help is much appreciated!!

[michaeljenkin]

Likely source of the error is a Mal-formed json message. Basically the Unity side just takes the json message and parses out the op field and it can’t find an op field in the message. To debug this take the entire message and give it to some json message parser and look for the offending issue. One possibility is the "frame_id"= "map”, line below. Michael

…

On Dec 25, 2017, at 9:37 AM, Abbas Sidaoui ***@***.***> wrote: Hello, Thank you for your work! I am using your library to send and receive some SLAM maps between unity and ROS. I have succeeded in sending OccupancyGrid msgs from ROS to Unity. However, when trying to send msg back from Unity I am having the "op" error below: [ERROR] [WallTime: 1514206643.195341] [Client 1] Received a message without an op. All messages require 'op' field with value one of: ['service_response', 'unadvertise_service', 'call_service', 'publish', 'fragment', 'subscribe', 'advertise_service', 'unsubscribe', 'unadvertise', 'advertise']. Original message was: {"op": "publish", "topic": "/Unitymap", "msg": { "info": {"origin": {"position": {"y": -10, "x": -10, "z": 0}, "orientation": {"y": 0, "x": 0, "z": 0, "w": 1}}, "width": 192, "map_load_time": {"secs": 0, "nsecs": 0}, "resolution": 0.1, "height": 192 }, "header": {"stamp": {"secs": 1514206624, "nsecs": 631136325}, "frame_id"= "map", "seq": 2422 }, "data":[0,0,0,0,0,0,0,0,0] --->> I deleted the data to save some space here. } } I have been stuck in this a error for a while, your help is much appreciated!! — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#10>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AJy_km54gjjwfm_EDgRYHunk9DR3cx11ks5tD7MTgaJpZM4RMUMh>.