I'm using Jetson TX-1 as a companion computer with Brain 3. Most of the nodes are running on Jetson, the only node running on the Brain is MAVROS. Now the problem is the MAVROS running on the Brain is an older version (
rosversion mavros prints
0.18.5) while the current package (
ros-kinetic-mavros) version is
0.18.7. This creates problems when running code on TX-1, here is the sample output from the Brain when running
rostopic echo /mavros/state on TX-1:
[ INFO] [1495585319.156293954]: WP: mission received
[ERROR] [1495585325.553061585]: Client [/rostopic_3384_1495647214225] wants topic /mavros/state to have datatype/md5sum [mavros_msgs/State/63d9a29b6abd9e0beeba06109556d062], but our version has [mavros_msgs/State/9e3d873fae342c8f48a8bd64c53d991e]. Dropping connection.
I happened to have another TX-1 board with older version of MAVROS that matches Brain's one and everything worked fine with that board.
How to solve that problem in general? Build older version from MAVROS sources on TX-1? Or upgrade Brain (it uses MAVROS fork as I understand, so not sure how easy it's going to be).