Open Carter90 opened 3 years ago
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import behaviors.scout scout.searchRandomWalk.main()
[ERROR] [1623389853.498152, 146.106000]: Error processing request: 'NoneType' object has no attribute 'request' ['Traceback (most recent call last):\n', ' File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 632, in _handle_request\n response = convert_return_to_response(self.handler(request), self.response_class)\n', ' File "/SC2/src/scoot/src/Driver.py", line 26, in wrapped_f\n return func(*args, **kwargs)\n', ' File "/SC2/src/scoot/src/Driver.py", line 148, in _control\n self.run() # this will be a blocking call\n', ' File "/SC2/src/scoot/src/Driver.py", line 309, in run\n if self.Doing.request.y < 0:\n', "AttributeError: 'NoneType' object has no attribute 'request'\n"] --------------------------------------------------------------------------- ServiceException Traceback (most recent call last) /SC2/src/scoot/src/repl.py in <module> ----> 1 scout.searchRandomWalk.main() /SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py in main(task) 83 ignoring = Obstacles.CUBESAT | Obstacles.HOME_FIDUCIAL | Obstacles.HOME_LEG | Obstacles.VISION_VOLATILE 84 ---> 85 random_walk(num_moves=50) 86 scoot.brake() 87 rospy.loginfo("I'm probably lost!") # @ TODO add a reorient state in the task state meh /SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py in random_walk(num_moves) 47 if rospy.is_shutdown(): 48 sys.exit(-1) ---> 49 wander() 50 except VolatileException: 51 rospy.logwarn("I found a volatile! " + scoot.VOL_TYPES[scoot.control_data]) /SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py in wander() 28 try: 29 rospy.loginfo("Wandering...") ---> 30 scoot.drive(random.gauss(4, 1), ignore=ignoring) 31 scoot.turn(random.gauss(-math.pi / 4, math.pi / 4), ignore=ignoring) 32 /SC2/src/scoot/src/Scoot.py in drive(self, distance, **kwargs) 485 x=distance, 486 ) --> 487 return self.__drive(req, **kwargs) 488 489 def translate(self, x, y, **kwargs): /SC2/src/scoot/src/Scoot.py in wrapped_f(*args, **kwargs) 86 def wrapped_f(*args, **kwargs): 87 with self.lock: ---> 88 return func(*args, **kwargs) 89 90 return wrapped_f /SC2/src/scoot/src/Scoot.py in __drive(self, request, **kwargs) 447 request.angular = kwargs['angular'] 448 --> 449 move_result = self.control([request]).result 450 value = move_result.result 451 obstacle = move_result.obstacle /opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py in __call__(self, *args, **kwds) 440 message. This is usually a type error with one of the fields. 441 """ --> 442 return self.call(*args, **kwds) 443 444 def _get_service_uri(self, request): /opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py in call(self, *args, **kwds) 520 521 try: --> 522 responses = transport.receive_once() 523 if len(responses) == 0: 524 raise ServiceException("service [%s] returned no response"%self.resolved_name) /opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py in receive_once(self) 733 while not msg_queue and not self.done and not is_shutdown(): 734 if b.tell() >= 4: --> 735 p.read_messages(b, msg_queue, sock) 736 if not msg_queue: 737 self.stat_bytes += recv_buff(sock, b, p.buff_size) /opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py in read_messages(self, b, msg_queue, sock) 358 @type sock: socket.socket 359 """ --> 360 self._read_ok_byte(b, sock) 361 rospy.msg.deserialize_messages(b, msg_queue, self.recv_data_class, queue_size=self.queue_size, max_msgs=1, start=1) #rospy.msg 362 #deserialize_messages only resets the buffer to the start /opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py in _read_ok_byte(self, b, sock) 341 b.seek(0) 342 b.truncate(0) --> 343 raise ServiceException("service [%s] responded with an error: %s"%(self.resolved_name, str)) 344 else: 345 # success, set seek point to start of message ServiceException: service [/small_scout_1/control] responded with an error: b"error processing request: 'NoneType' object has no attribute 'request'"
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