KeyError in localizer

[dfarrell07]

I'm seeing the following error in localizer, both running from comm and controller.

Traceback (most recent call last):
  File "/usr/lib/python2.7/multiprocessing/process.py", line 258, in _bootstrap
    self.run()
  File "/usr/lib/python2.7/multiprocessing/process.py", line 114, in run
    self._target(*self._args, **self._kwargs)
  File "../../localizer/localizer.py", line 55, in run
    localizer.update(sensors)
  File "../../localizer/particles.py", line 38, in update
    self.calc_weights(measured)
  File "../../localizer/particles.py", line 74, in calc_weights
    prob[i] *= ngaussian(self.p.sensed[name][i], 5.0, measured[name])
KeyError: 'front'

@napratin and I are working with the bot right now, so I haven't looked into this in detail. At first glance I guess it's a problem indexing into the sensor data, maybe caused by the fact that's front is in a nested dict. Just a guess, haven't even looked at the code.

[dfarrell07]

Yeah, seeing this on the bot as well.

[jschornick]

That's expected if there is a mismatch between the object you're providing via sensorData and the dict I'm using with the fake IPC channel. If you give me an example of what to expect from sensorData, I can make them consistent. You may want to switch to DumbLocalizer if you don't see a quick fix before I get to it.

[napratin]

The shared Google doc "Serial communication API (text)" should contain the most updated (and final) dict format for sensor data returned (among other things). Look for getAllSensorData() in High-level methods column. Assuming @dfarrell07 preserves this structure when converting sensor values to appropriate units, this is what you should expect.

[dfarrell07]

Sorry, meant to respond to this earlier. I referenced the document @napratin linked to above, so unless it changed or I made a mistake, it should be the same. Here's an example of the sensor data dict (you can get this by running nav via test cases or controller and then inspecting the log).

2013-04-02 16:46:41,854 | INFO | nav.py | getSensorData | 540 | Sensor data from comm: {'accel': {'x': 0, 'y': 0, 'z': 980},
 'heading': 0,
 'id': 0,
 'msg': 'This is fake',
 'result': True,
 'ultrasonic': {'back': 100, 'front': 100, 'left': 100, 'right': 100}}
2013-04-02 16:46:41,855 | INFO | nav.py | getSensorData | 544 | Converted sensor data: {'accel': {'x': 0, 'y': 0, 'z': 980},
 'heading': 0.0,
 'id': 0,
 'msg': 'This is fake',
 'result': True,
 'ultrasonic': {'back': 1.3385833999999999,
                'front': 1.3385833999999999,
                'left': 1.3385833999999999,
                'right': 1.3385833999999999}}

[jschornick]

@napratin -- thank you for the (now, in hindsight, obvious) pointers to the documentation. I should have looked there right away.

@dfarrell07 -- I'll fix this right now so that it (at least) works with the sample data you provided. I'll update here when it's pushed.

[jschornick]

Quick fix pushed in SHA: e563a6af7e02f5986557ff02cfe832106468abe5

Please confirm that the new SensorData handling works on your end.

[dfarrell07]

Seems to work.