Open
Description
Encountered while searching
import behaviors.scout
scout.searchRandomWalk.main()[ERROR] [1623389853.498152, 146.106000]: Error processing request: 'NoneType' object has no attribute 'request'
['Traceback (most recent call last):\n', ' File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 632, in _handle_request\n response = convert_return_to_response(self.handler(request), self.response_class)\n', ' File "/SC2/src/scoot/src/Driver.py", line 26, in wrapped_f\n return func(*args, **kwargs)\n', ' File "/SC2/src/scoot/src/Driver.py", line 148, in _control\n self.run() # this will be a blocking call\n', ' File "/SC2/src/scoot/src/Driver.py", line 309, in run\n if self.Doing.request.y < 0:\n', "AttributeError: 'NoneType' object has no attribute 'request'\n"]
---------------------------------------------------------------------------
ServiceException Traceback (most recent call last)
/SC2/src/scoot/src/repl.py in <module>
----> 1 scout.searchRandomWalk.main()
/SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py in main(task)
83 ignoring = Obstacles.CUBESAT | Obstacles.HOME_FIDUCIAL | Obstacles.HOME_LEG | Obstacles.VISION_VOLATILE
84
---> 85 random_walk(num_moves=50)
86 scoot.brake()
87 rospy.loginfo("I'm probably lost!") # @ TODO add a reorient state in the task state meh
/SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py in random_walk(num_moves)
47 if rospy.is_shutdown():
48 sys.exit(-1)
---> 49 wander()
50 except VolatileException:
51 rospy.logwarn("I found a volatile! " + scoot.VOL_TYPES[scoot.control_data])
/SC2/src/scoot/src/behaviors/scout/searchRandomWalk.py in wander()
28 try:
29 rospy.loginfo("Wandering...")
---> 30 scoot.drive(random.gauss(4, 1), ignore=ignoring)
31 scoot.turn(random.gauss(-math.pi / 4, math.pi / 4), ignore=ignoring)
32
/SC2/src/scoot/src/Scoot.py in drive(self, distance, **kwargs)
485 x=distance,
486 )
--> 487 return self.__drive(req, **kwargs)
488
489 def translate(self, x, y, **kwargs):
/SC2/src/scoot/src/Scoot.py in wrapped_f(*args, **kwargs)
86 def wrapped_f(*args, **kwargs):
87 with self.lock:
---> 88 return func(*args, **kwargs)
89
90 return wrapped_f
/SC2/src/scoot/src/Scoot.py in __drive(self, request, **kwargs)
447 request.angular = kwargs['angular']
448
--> 449 move_result = self.control([request]).result
450 value = move_result.result
451 obstacle = move_result.obstacle
/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py in __call__(self, *args, **kwds)
440 message. This is usually a type error with one of the fields.
441 """
--> 442 return self.call(*args, **kwds)
443
444 def _get_service_uri(self, request):
/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py in call(self, *args, **kwds)
520
521 try:
--> 522 responses = transport.receive_once()
523 if len(responses) == 0:
524 raise ServiceException("service [%s] returned no response"%self.resolved_name)
/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py in receive_once(self)
733 while not msg_queue and not self.done and not is_shutdown():
734 if b.tell() >= 4:
--> 735 p.read_messages(b, msg_queue, sock)
736 if not msg_queue:
737 self.stat_bytes += recv_buff(sock, b, p.buff_size)
/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py in read_messages(self, b, msg_queue, sock)
358 @type sock: socket.socket
359 """
--> 360 self._read_ok_byte(b, sock)
361 rospy.msg.deserialize_messages(b, msg_queue, self.recv_data_class, queue_size=self.queue_size, max_msgs=1, start=1) #rospy.msg
362 #deserialize_messages only resets the buffer to the start
/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py in _read_ok_byte(self, b, sock)
341 b.seek(0)
342 b.truncate(0)
--> 343 raise ServiceException("service [%s] responded with an error: %s"%(self.resolved_name, str))
344 else:
345 # success, set seek point to start of message
ServiceException: service [/small_scout_1/control] responded with an error: b"error processing request: 'NoneType' object has no attribute 'request'"