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Elite-Robots / ROS

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TypeError: must be real number, not NoneType #7

Open Destinycjk opened 2 years ago

Destinycjk commented 2 years ago

Hello! I cloned this repository and ran with Ubuntu 20.04.5 LTS and ROS Noetic installed. I tried to command an EC66 robot with the following firmware and software versions: Controller software V2.2.4.20210330

I have connected to EC66. When I ran the order " roslaunch elite_controller elite_controller.launch robot:=ec66 robot_ip:=192.168.1.200", it failed with clue "TypeError: must be real number, not NoneType". The complete log is listed below: Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://chenkai-FX503VD:42549/

SUMMARY

PARAMETERS

NODES / elite_controller (elite_controller/elite_controller_node.py) elite_driver (elite_driver/elite_driver_node.py)

auto-starting new master process[master]: started with pid [41278] ROS_MASTER_URI=http://localhost:11311

setting /run_id to e9ac95ac-5abf-11ed-be9a-c1a52c90ddcd process[rosout-1]: started with pid [41288] started core service [/rosout] process[elite_controller-2]: started with pid [41295] process[elite_driver-3]: started with pid [41296] new action server [INFO] [1667401583.382011]: EliteDriver is started... [INFO] [1667401583.386731]: JointStatePublisher is started... [INFO] [1667401583.396485]: JointMoveService is started... [INFO] [1667401583.402813]: ForwardKinematicService is started... [INFO] [1667401583.407737]: InverseKinematicService is started... [INFO] [1667401583.412686]: CartMoveService is started... [INFO] [1667401583.417707]: RobotServoOnService is started... [INFO] [1667401583.422801]: SetAnalogIOService is started... [INFO] [1667401583.428155]: SetDigitalIOService is started... [INFO] [1667401583.433487]: StopMoveService is started... [INFO] [1667401583.442905]: RobotStatePublisher is started... [INFO] [1667401583.449467]: JointTrajectoryMoveLService is started... [INFO] [1667401583.454386]: JointTrajectoryMoveTService is started... [INFO] [1667401583.465680]: Use FakeEc is False 2022-11-02 23:06:23 |Robot_IP: 192.168.1.200| DEBUG | 192.168.1.200 connect success 2022-11-02 23:06:23 |Robot_IP: 192.168.1.200| WARNING | CMD: clearAlarm | Failed to clear alarm, invalid force 2022-11-02 23:06:23 |Robot_IP: 192.168.1.200| DEBUG | Alarm clear success 2022-11-02 23:06:23 |Robot_IP: 192.168.1.200| DEBUG | MotorStatus sync success 2022-11-02 23:06:24 |Robot_IP: 192.168.1.200| DEBUG | servo status set success [INFO] [1667401584.086179]: Monitor is not start,wait... [INFO] [1667401585.090794]: Robot startup success... Traceback (most recent call last): File "/home/chenkai/catkin_ws/ROS/devel/lib/elite_driver/elite_driver_node.py", line 15, in exec(compile(fh.read(), python_script, 'exec'), context) File "/home/chenkai/catkin_ws/ROS/src/elite_driver/scripts/elite_driver_node.py", line 27, in main() File "/home/chenkai/catkin_ws/ROS/src/elite_driver/scripts/elite_driver_node.py", line 22, in main elite_driver.spin() File "/home/chenkai/catkin_ws/ROS/src/elite_driver/src/elite_driver/elite_driver.py", line 82, in spin JointStatePublisher.spin(self) File "/home/chenkai/catkin_ws/ROS/src/elite_driver/src/elite_driver/joint_states.py", line 33, in spin self.update_joint_state() File "/home/chenkai/catkin_ws/ROS/src/elite_driver/src/elite_driver/joint_states.py", line 49, in update_joint_state self.jointstate.velocity.append(math.radians(speed)) TypeError: must be real number, not NoneType [elite_driver-3] process has died [pid 41296, exit code 1, cmd /home/chenkai/catkin_ws/ROS/devel/lib/elite_driver/elite_driver_node.py __name:=elite_driver __log:=/home/chenkai/.ros/log/e9ac95ac-5abf-11ed-be9a-c1a52c90ddcd/elite_driver-3.log]. log file: /home/chenkai/.ros/log/e9ac95ac-5abf-11ed-be9a-c1a52c90ddcd/elite_driver-3*.log

I don't know where it wrongs. Could you help me?

miaokeqin commented 2 years ago

Upgrade the software version. Best version > =3.5