Python-learning-SMACH-QA

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本文解决了使用ROS SMACH框架时遇到的多个常见错误，包括找不到rospkg模块、Graphview无法显示状态图、状态机构造错误、状态机一致性检查失败及无效用户代码错误等问题，并提供了详细的解决方案。

Question

/usr/bin/python3.4 /home/evan/PycharmProjects/smach_projects/GettingStarted.py

Traceback (most recent call last):
File "/home/evan/PycharmProjects/smach_projects/GettingStarted.py", line 2, in <module>
    import roslib;roslib.load_manifest('smach_projects')
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/__init__.py", line 50, in <module>
    from roslib.launcher import load_manifest
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/launcher.py", line 42, in <module>
    import rospkg
ImportError: No module named 'rospkg'

Process finished with exit code 1

Answer

Because we didnot install python3.4 package in the ros folder(/opt/ros/indigo/lib) , we just installed rospkg for python 2.7.6 so can not find the rospkg for python 3.4. We can manually install rospkg for python 3.4 but notice that only one rospkg can be installed that means we can not install rospkg for both python 2.7 and python 3.4.

Question
- Answer:-smach_viewer的Graph view不能显示状态图
Question
[ERROR] [WallTime: 1496741655.591969] Error raised during SMACH container construction:
Traceback (most recent call last):

File "/home/evan/workspace/roboware/my_catkin_ws/src/smach_package/src/cleanContainer.py", line 123, in main
    smach.StateMachine.add('find_area', State_find_area(),

File "/home/evan/workspace/roboware/my_catkin_ws/src/smach_package/src/cleanContainer.py", line 63, in __init__
    result_cb = self.cb_result)

File "/home/evan/workspace/roboware/my_catkin_ws/src/smach_package/src/cleanContainer.py", line 37, in __init__
    smach_ros.SimpleActionState.__init__(self,action_name,action_spec,goal,goal_key,goal_slots,goal_cb,goal_cb_args
, result_key,result_slots,result_cb,result_cb_args,result_cb_kwargs,input_keys,output_keys,outcomes, exec_timeout,p
reempt_timeout,server_wait_timeout)

File "/opt/ros/indigo/lib/python2.7/dist-packages/smach_ros/simple_action_state.py", line 173, in __init__
    if not all([s in action_spec().action_result.result.__slots__ for s in result_slots]):

TypeError: 'instancemethod' object is not iterable
Traceback (most recent call last):
File "/home/evan/workspace/roboware/my_catkin_ws/src/smach_package/src/cleanContainer.py", line 135, in <module>
    main()
File "/home/evan/workspace/roboware/my_catkin_ws/src/smach_package/src/cleanContainer.py", line 123, in main
    smach.StateMachine.add('find_area', State_find_area(),
File "/home/evan/workspace/roboware/my_catkin_ws/src/smach_package/src/cleanContainer.py", line 63, in __init__
    result_cb = self.cb_result)
File "/home/evan/workspace/roboware/my_catkin_ws/src/smach_package/src/cleanContainer.py", line 37, in __init__
    smach_ros.SimpleActionState.__init__(self,action_name,action_spec,goal,goal_key,goal_slots,goal_cb,goal_cb_args
, result_key,result_slots,result_cb,result_cb_args,result_cb_kwargs,input_keys,output_keys,outcomes, exec_timeout,p
reempt_timeout,server_wait_timeout)
File "/opt/ros/indigo/lib/python2.7/dist-packages/smach_ros/simple_action_state.py", line 173, in __init__
    if not all([s in action_spec().action_result.result.__slots__ for s in result_slots]):
TypeError: 'instancemethod' object is not iterable
- Answer
  
       def __init__ ( self , # Action info
  
               action_name = 'default_action' ,
  
               action_spec = defaultAction,
  
               # Default goal
  
               goal = None ,
  
               goal_key = None ,
  
               goal_slots = [],
  
               goal_cb = None ,
  
               goal_cb_args = [],
  
               goal_cb_kwargs = {},
  
               # Result modes
  
               result_key = None ,
  
               result_slots = [],
  
               result_cb = None ,
  
               result_cb_args = [],
  
               result_cb_kwargs = {},
  
               # Keys
  
               input_keys = [],
  
               output_keys = [],
  
               outcomes = [],
  
               # Timeouts
  
               exec_timeout = None ,
  
               preempt_timeout = rospy.Duration( 60.0 ),
  
               server_wait_timeout = rospy.Duration( 60.0 )):
  
          smach_ros.SimpleActionState. __init__ ( self ,action_name,action_spec,goal,goal_key,goal_slots,goal_cb,goal_cb_args,goal_cb_kwargs(forget adding this param to cause the wrong param order), result_key,result_slots,result_cb,result_cb_args,result_cb_kwargs,input_keys,output_keys,outcomes, exec_timeout,preempt_timeout,server_wait_timeout)
Question
[ERROR] [WallTime: 1496742757.805075] InvalidTransitionError: State machine failed consistency check:
State 'find_area' references unregistered outcomes: ['preempted', 'aborted']

Available states: ['finish', 'BAR', 'find_area']
[ERROR] [WallTime: 1496742757.805399] Container consistency check failed.
- Answer
  
  smach.StateMachine.add( 'find_area' , State_find_area(),
  
                                  transitions ={ 'succeeded' : 'finish' ,
  
                                               'fail' : 'find_area' ,
  
                                              'aborted':'aborted',
  
                                              'preempted':'aborted' },#forget adding these two lines,so the state machine can not form complete outcome diagram.
  
                                  remapping ={ 'find_wall_area' : 'area' })
Question
[ERROR] [WallTime: 1496743305.298023] InvalidUserCodeError: Reading from SMACH userdata key 'find_wall_area' but the only keys that were declare
d as input to this state were: (). This key needs to be declaread as input to this state.
[ERROR] [WallTime: 1496743305.298158] State 'find_area' failed to execute.
- Answer
  
  smach.StateMachine.add( 'find_area' , State_find_area(),
  
                                  transitions ={ 'succeeded' : 'plan_path' ,
  
                                               'fail' : 'find_area' ,
  
                                               'aborted' : 'aborted' ,
  
                                               'preempted' : 'aborted' },
  
                                  remapping ={ 'find_wall_area' : 'area' ,#This line for input_key named 'find_wall_area'
  
                                               'find_wall_area' : 'area' })#This line for output_key named 'find_wall_area'
Question
When adding a new action file area.action , there is an error happened when building.

Generating .msg files for action smach_package/area /home/evan/workspace/roboware/my_catkin_ws/src/smach_package/action/area.action

Traceback (most recent call last):

  File "/opt/ros/indigo/share/actionlib_msgs/cmake/../../../lib/actionlib_msgs/genaction.py", line 136, in <module>

    if __name__ == '__main__': main()

  File "/opt/ros/indigo/share/actionlib_msgs/cmake/../../../lib/actionlib_msgs/genaction.py", line 97, in main

    raise ActionSpecException("%s: wrong number of pieces, %d"%(filename,len(pieces)))

__main__.ActionSpecException: /home/evan/workspace/roboware/my_catkin_ws/src/smach_package/action/area.action: wrong number of pieces, 1

Generating for action area

CMake Error at /opt/ros/indigo/share/catkin/cmake/safe_execute_process.cmake:11 (message):
- Answer
  
  #goal definition
  
  geometry_msgs::PointStamped origin
  
  #result definition
  
  geometry_msgs::PolygonStamped area
  
  #feedback definition
  
  geometry_msgs::PolygonStamped area
  
  replace the double comma to reverse slash and add two seperators
  
  #goal definition
  
  geometry_msgs/PointStamped origin
  ---
  
  #result definition
  
  geometry_msgs/PolygonStamped area
  ---
  
  #feedback definition
  
  geometry_msgs/PolygonStamped area
- if there is another error occurring
  CMake Error at /home/evan/workspace/roboware/my_catkin_ws/build/smach_package/cmake/smach_package-genmsg.cmake:3 (message):
  Could not find messages which
  '/home/evan/workspace/roboware/my_catkin_ws/devel/share/smach_package/msg/areaAction.msg'
  depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?
  
  Cannot locate message [PointStamped]: unknown package [geometry_msgs] on
  search path [{{'smach_package':
  ['/home/evan/workspace/roboware/my_catkin_ws/devel/share/smach_package/msg'],
  'actionlib_msgs': ['/opt/ros/indigo/share/actionlib_msgs/cmake/../msg'],
  'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg']}}]
  - Answer
    
    ## Generate added messages and services with any dependencies listed here
    
    generate_messages(DEPENDENCIES
    
      actionlib_msgs
    
      geometry_msgs   ## Add this line for support the geometry_msgs/polygonStamped message
    
      std_msgs
    
    )
    
    find_package (catkin REQUIRED COMPONENTS
    
      actionlib_msgs
    
      message_generation
    
      rospy
    
      std_msgs
    
      geometry_msgs ## Add this line when using geometry_msgs to generate messages
    
    )
Question
e_action_server.py", line 289, in executeLoop
    self.execute_callback(goal)
File "/home/evan/catkin_ws/src/sim_platform/src/path_planner.py",
line 99, in execute_cb
    self._sas.set_succeeded(result)
File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/simpl
e_action_server.py", line 162, in set_succeeded
    self.current_goal.set_succeeded(result, text)
File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/serve
r_goal_handle.py", line 195, in set_succeeded
    self.action_server.publish_result(self.status_tracker.status, r
esult)
File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/actio
n_server.py", line 182, in publish_result
    self.result_pub.publish(ar)
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py
", line 856, in publish
    raise ROSSerializationException(str(e))
ROSSerializationException: <class 'struct.error'>: 'required argume
nt is not a float' when writing 'x: 0
y:
- 0.208178028592
- -0.0186330676772
- 0
z: 0.0'
- Answer
  
  for index,waypoint in enumerate ( self .path): ## forget add index ,enumerate will firstly set index .Otherwise waypoint[0] will be set as index.