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Pankaj-Baranwal / pocketsphinx

Updated ROS bindings to pocketsphinx
BSD 3-Clause "New" or "Revised" License
38 stars 25 forks source link

voice_cmd.launch error #12

Open leiw324 opened 5 years ago

leiw324 commented 5 years ago

Hello,

Here is my testing env:

ROS kinect version

Ubuntu 16.04.5 TLS xenial

VirtualBox 5.2.18

When type roslaunch pocketsphinx voice_cmd.launch with error:

wilson@wilson-VirtualBox:~$ roslaunch pocketsphinx voice_cmd.launch ... logging to /home/wilson/.ros/log/1dde0bca-34e1-11e9-95df-080027787a29/roslau nch-wilson-VirtualBox-2200.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://wilson-VirtualBox:44835/

SUMMARY

PARAMETERS

NODES / recognizer (pocketsphinx/recognizer.py) voice_cmd_vel (pocketsphinx/voice_cmd_vel.py)

auto-starting new master process[master]: started with pid [2211] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1dde0bca-34e1-11e9-95df-080027787a29 process[rosout-1]: started with pid [2224] started core service [/rosout] process[recognizer-2]: started with pid [2227] process[voice_cmd_vel-3]: started with pid [2228] /usr/lib/python2.7/dist-packages/gtk-2.0/gtk/init.py:57: GtkWarning: could not open display warnings.warn(str(e), _gtk.Warning) /home/wilson/catkin_ws/src/pocketsphinx/0.4/nodes/voice_cmd_vel.py:24: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queuesize'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. self.pub = rospy.Publisher('cmd_vel', Twist) /home/wilson/catkin_ws/src/pocketsphinx/0.4/nodes/recognizer.py:68: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. self.pub = rospy.Publisher('~output', String) Traceback (most recent call last): File "/home/wilson/catkin_ws/src/pocketsphinx/0.4/nodes/recognizer.py", line 177, in start = recognizer() File "/home/wilson/catkin_ws/src/pocketsphinx/0.4/nodes/recognizer.py", line 73, in init self.start_recognizer() File "/home/wilson/catkin_ws/src/pocketsphinx/0.4/nodes/recognizer.py", line 80, in start_recognizer self.pipeline = gst.parse_launch(self.launch_config) glib.GError: no element "gconfaudiosrc" Traceback (most recent call last): File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/core.py", line 466, in signal_shutdown h() File "/home/wilson/catkin_ws/src/pocketsphinx/0.4/nodes/recognizer.py", line 131, in shutdown gtk.main_quit() RuntimeError: called outside of a mainloop [recognizer-2] process has died [pid 2227, exit code 1, cmd /home/wilson/catkin_ws/src/pocketsphinx/0.4/nodes/recognizer.py name:=recognizer log:=/home/wilson/.ros/log/1dde0bca-34e1-11e9-95df-080027787a29/recognizer-2.log]. log file: /home/wilson/.ros/log/1dde0bca-34e1-11e9-95df-080027787a29/recognizer-2*.log

Here is recognizer-2.log

[rospy.client][INFO] 2019-02-20 15:28:34,170: init_node, name[/recognizer], pid[2227] [xmlrpc][INFO] 2019-02-20 15:28:34,171: XML-RPC server binding to 0.0.0.0:0 [xmlrpc][INFO] 2019-02-20 15:28:34,171: Started XML-RPC server [http://wilson-VirtualBox:45971/] [rospy.init][INFO] 2019-02-20 15:28:34,172: ROS Slave URI: [http://wilson-VirtualBox:45971/] [rospy.impl.masterslave][INFO] 2019-02-20 15:28:34,172: _ready: http://wilson-VirtualBox:45971/ [xmlrpc][INFO] 2019-02-20 15:28:34,172: xml rpc node: starting XML-RPC server [rospy.registration][INFO] 2019-02-20 15:28:34,173: Registering with master node http://localhost:11311 [rospy.init][INFO] 2019-02-20 15:28:34,272: registered with master [rospy.rosout][INFO] 2019-02-20 15:28:34,273: initializing /rosout core topic [rospy.rosout][INFO] 2019-02-20 15:28:34,285: connected to core topic /rosout [rospy.simtime][INFO] 2019-02-20 15:28:34,293: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic [rosout][INFO] 2019-02-20 15:28:34,316: Launch config: gconfaudiosrc [rosout][INFO] 2019-02-20 15:28:34,336: Starting recognizer... [rospy.core][INFO] 2019-02-20 15:28:34,343: signal_shutdown [atexit] [rospy.impl.masterslave][INFO] 2019-02-20 15:28:34,361: atexit

Thanks

derek-s-nguyen commented 4 years ago

Shot in the dark but try adding the queue size:

self.pub = rospy.Publisher("cmd_vel", Twist, queue_size=10)