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ros / geometry

Packages for common geometric calculations including the ROS transform library, "tf". Also includes ROS bindings for "bullet" physics engine and "kdl" kinematics/dynamics package.
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Error in getFrameStrings with release 1.11.9 #154

Closed davidmball closed 6 years ago

davidmball commented 7 years ago

We updated to 1.11.9 and in this code

                _print("Waiting for %s frame..." % to_frame)
                while not transform_listener.frameExists(to_frame):
                    if rospy.is_shutdown():
                        return

now have the following error

  File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf/listener.py", line 93, in frameExists
    return frame_id in self.getFrameStrings()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf/listener.py", line 98, in getFrameStrings
    return [p for p, _ in data.items()]
AttributeError: 'list' object has no attribute 'items'

Switching to canTransform solved our problem.

tfoote commented 6 years ago

Can you confirm what the line 97 reads in listener.py? That issue should have been resolved by #153

The only case that the data coming out of that function should be a list is the empty list. All other elements provide a dict. https://github.com/ros/geometry2/blob/indigo-devel/tf2/src/buffer_core.cpp#L1195

I also patched geometry2 to avoid this: https://github.com/ros/geometry2/pull/269

tfoote commented 6 years ago

Resolved 2 ways, the upstream way is released, and in the next release here it will be more defensive too.