Investigate / Catch Error

[Carter90]

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'"