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  • ROS知识(10)----smach_viewer的Graph view不能显示状态图

    1、问题

    在运行ROS by Example 2--Indigo版本中,运行 smach_viewer,再运行巡逻,命令如下:

    $ rosrun smach_viewer smach_viewer.py
    $ rosrun rbx2_tasks patrol_smach.py

    出现如下错误:

    xception in thread Thread-5:
    Traceback (most recent call last):
      File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
        self.run()
      File "/usr/lib/python2.7/threading.py", line 763, in run
        self.__target(*self.__args, **self.__kwargs)
      File "/opt/ros/indigo/lib/smach_viewer/smach_viewer.py", line 848, in _update_graph
        self.set_dotcode(dotstr,zoom=False)
      File "/opt/ros/indigo/lib/smach_viewer/smach_viewer.py", line 866, in set_dotcode
        if self.widget.set_dotcode(dotcode, None):
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/wxxdot.py", line 455, in set_dotcode
        self.set_xdotcode(xdotcode)
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/wxxdot.py", line 483, in set_xdotcode
        self.graph = parser.parse()
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1146, in parse
        DotParser.parse(self)
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 951, in parse
        self.parse_graph()
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 960, in parse_graph
        self.parse_stmt()
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 993, in parse_stmt
        self.parse_subgraph()
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 974, in parse_subgraph
        self.parse_stmt()
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 993, in parse_stmt
        self.parse_subgraph()
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 974, in parse_subgraph
        self.parse_stmt()
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1009, in parse_stmt
        self.handle_node(id, attrs)
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1120, in handle_node
        shapes.extend(parser.parse())
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 608, in parse
        points = self.read_polygon()
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 503, in read_polygon
        x, y = self.read_point()
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 486, in read_point
        x = self.read_number()
      File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 480, in read_number
        return int(self.read_code())
    ValueError: invalid literal for int() with base 10: '402.67'

    2、解决方案

    将文件的480行的代码:

    return int(self.read_code()) 

    改成:

    return int(float(self.read_code()))

    来解决方案的来源:

    1、ROS Indigo :Cannot show Graph View on smach_viewer

    出来的效果图:

    smach在机器人控制中太重要了,PR2开发中,发现如果不用一套完整的框架去执行任务,会导致代码的维护特别的繁杂,所以大佬们才开发这套smach状态机功能包,既然要用到,就不要走弯路了,最近试了几个任务的执行,深切体会,知道碰壁不如早点用起来它吧。

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  • 原文地址:https://www.cnblogs.com/cv-pr/p/5103474.html
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