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[PyQt] Trying to do an interface for our Turtlebot robot
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[PyQt] Trying to do an interface for our Turtlebot robot
#1
Hello every one!

My name is Antonino Vara and I work as a teacher in a Secondary School in Badajoz (SPain)

I have made an interface for the robot we are doing in our School. We have made it with PyQt5. The interface works fine and now we want to use it with other Python file, go_to_specific_point_on_map.py which works fine without the interface.

When I try to put all together, I get some errors that I don’t know how to solve because I don’t know a lot about Python.

I have made several tries but I think my best one are:
ejecutaprueba4.py and ejecutaprueba5.py

With the first one I get the next error:

Error:
[INFO] [1572298461.772443]: Go to (1.22, 2.56) pose Traceback (most recent call last): File “ejecutaprueba4.py”, line 94, in window = Ui() File “ejecutaprueba4.py”, line 16, in init self.button.clicked.connect(self.ir(1)) File “ejecutaprueba4.py”, line 80, in ir success = self.goto(position, quaternion) File “ejecutaprueba4.py”, line 43, in goto self.move_base.send_goal(goal) AttributeError: ‘Ui’ object has no attribute ‘move_base’
And with the second one I get:

Error:
Traceback (most recent call last): File “ejecutaprueba5.py”, line 23, in window = Ui() File “ejecutaprueba5.py”, line 17, in init irPuntoMapa = GoToPose() File “/home/mubita/go_to_specific_point_on_map.py”, line 41, in init self.move_base.wait_for_server(rospy.Duration(5)) File “/opt/ros/kinetic/lib/python2.7/dist-packages/actionlib/simple_action_client.py”, line 67, in wait_for_server return self.action_client.wait_for_server(timeout) File “/opt/ros/kinetic/lib/python2.7/dist-packages/actionlib/action_client.py”, line 584, in wait_for_server timeout_time = rospy.get_rostime() + timeout File “/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/rostime.py”, line 190, in get_rostime raise rospy.exceptions.ROSInitException(“time is not initialized. Have you called init_node()?”) rospy.exceptions.ROSInitException: time is not initialized. Have you called init_node()?
I think that the second one is programmed better but the first one run more time that the second. We have tried to program in different ways and try to find the error but I’m not able.

These are my files:

ejecutaprueba4.py

from PyQt5 import QtWidgets, uic
import sys
import rospy
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
import actionlib
from actionlib_msgs.msg import *
from geometry_msgs.msg import Pose, Point, Quaternion

class Ui(QtWidgets.QMainWindow):
    def __init__(self):
        super(Ui, self).__init__()
        uic.loadUi('prueba.ui', self)

        # Find the button with the name "printButton"
	self.button = self.findChild(QtWidgets.QPushButton, 'pushButton')
	self.button.clicked.connect(self.ir(1))

        self.goal_sent = False

	# What to do if shut down (e.g. Ctrl-C or failure)
	rospy.on_shutdown(self.shutdown)
	
	# Tell the action client that we want to spin a thread by default
	self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
	rospy.loginfo("Wait for the action server to come up")

	# Allow up to 5 seconds for the action server to come up
	self.move_base.wait_for_server(rospy.Duration(5))

        self.show()

    def goto(self, pos, quat):

        # Send a goal
        self.goal_sent = True
	goal = MoveBaseGoal()
	goal.target_pose.header.frame_id = 'map'
	goal.target_pose.header.stamp = rospy.Time.now()
        goal.target_pose.pose = Pose(Point(pos['x'], pos['y'], 0.000),
                                     Quaternion(quat['r1'], quat['r2'], quat['r3'], quat['r4']))

	# Start moving
        self.move_base.send_goal(goal)

	# Allow TurtleBot up to 60 seconds to complete task
	success = self.move_base.wait_for_result(rospy.Duration(60)) 

        state = self.move_base.get_state()
        result = False

        if success and state == GoalStatus.SUCCEEDED:
            # We made it!
            result = True
        else:
            self.move_base.cancel_goal()

        self.goal_sent = False
        return result

    def shutdown(self):
        if self.goal_sent:
            self.move_base.cancel_goal()
        rospy.loginfo("Stop")
        rospy.sleep(1)

    def ir(self, cuadro):
        try:
            rospy.init_node('nav_test', anonymous=False)

            # Customize the following values so they are appropriate for your location

	    if cuadro == 1:
	        position = {'x': 1.22, 'y' : 2.56}
	        quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000}
	    else:
	        position = {'x': 1.22, 'y' : 2.56}
	        quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000}

            rospy.loginfo("Go to (%s, %s) pose", position['x'], position['y'])
            success = self.goto(position, quaternion)

            if success:
                rospy.loginfo("Hooray, reached the desired pose")
            else:
                rospy.loginfo("The base failed to reach the desired pose")
    
            # Sleep to give the last log messages time to be sent
            rospy.sleep(1)

        except rospy.ROSInterruptException:
            rospy.loginfo("Ctrl-C caught. Quitting")

app = QtWidgets.QApplication(sys.argv)
window = Ui()
app.exec_()
ejecutaprueba5.py
from PyQt5 import QtWidgets, uic
import sys
import rospy
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
import actionlib
from actionlib_msgs.msg import *
from geometry_msgs.msg import Pose, Point, Quaternion
from go_to_specific_point_on_map import GoToPose

class Ui(QtWidgets.QMainWindow):
    def __init__(self):
        super(Ui, self).__init__()
        uic.loadUi('prueba.ui', self)

        # Find the button with the name "printButton"
	self.button = self.findChild(QtWidgets.QPushButton, 'pushButton')
	irPuntoMapa = GoToPose()
	self.button.clicked.connect(irPuntoMapa.ir(1))

        self.show()

app = QtWidgets.QApplication(sys.argv)
window = Ui()
app.exec_()
And go_to_specific_point_on_map.py which is a modification of this:
https://github.com/markwsilliman/turtleb...-our-robot

#!/usr/bin/env python

'''
Copyright (c) 2015, Mark Silliman
All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
'''

# TurtleBot must have minimal.launch & amcl_demo.launch
# running prior to starting this script
# For simulation: launch gazebo world & amcl_demo prior to run this script

import rospy
from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal
import actionlib
from actionlib_msgs.msg import *
from geometry_msgs.msg import Pose, Point, Quaternion

class GoToPose():
    def __init__(self):

        self.goal_sent = False

	# What to do if shut down (e.g. Ctrl-C or failure)
	rospy.on_shutdown(self.shutdown)
	
	# Tell the action client that we want to spin a thread by default
	self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
	rospy.loginfo("Wait for the action server to come up")

	# Allow up to 5 seconds for the action server to come up
	self.move_base.wait_for_server(rospy.Duration(5))

    def goto(self, pos, quat):

        # Send a goal
        self.goal_sent = True
	goal = MoveBaseGoal()
	goal.target_pose.header.frame_id = 'map'
	goal.target_pose.header.stamp = rospy.Time.now()
        goal.target_pose.pose = Pose(Point(pos['x'], pos['y'], 0.000),
                                     Quaternion(quat['r1'], quat['r2'], quat['r3'], quat['r4']))

	# Start moving
        self.move_base.send_goal(goal)

	# Allow TurtleBot up to 60 seconds to complete task
	success = self.move_base.wait_for_result(rospy.Duration(60)) 

        state = self.move_base.get_state()
        result = False

        if success and state == GoalStatus.SUCCEEDED:
            # We made it!
            result = True
        else:
            self.move_base.cancel_goal()

        self.goal_sent = False
        return result

    def shutdown(self):
        if self.goal_sent:
            self.move_base.cancel_goal()
        rospy.loginfo("Stop")
        rospy.sleep(1)

    def ir(self, cuadro):
        try:
            rospy.init_node('nav_test', anonymous=False)
            navigator = GoToPose()

            # Customize the following values so they are appropriate for your location

	    if cuadro == 1:
	        position = {'x': 1.22, 'y' : 2.56}
	        quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000}
	    else:
	        position = {'x': 1.22, 'y' : 2.56}
	        quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000}

            rospy.loginfo("Go to (%s, %s) pose", position['x'], position['y'])
            success = navigator.goto(position, quaternion)

            if success:
                rospy.loginfo("Hooray, reached the desired pose")
            else:
                rospy.loginfo("The base failed to reach the desired pose")

            # Sleep to give the last log messages time to be sent
            rospy.sleep(1)

        except rospy.ROSInterruptException:
            rospy.loginfo("Ctrl-C caught. Quitting")
Thank you very much for your help.

Best regards
Reply
#2
It seems that some parts of your code are not properly indented. For example in ejecutaprueba4.py, it is probable that line 15 and 16 should be part of the __init__() method and therefore more indented than what is shown in the above post.

Make sure that your editor inserts 4 spaces when you hit the tabulation key and fix the wrongly indented lines in your files first.

There seems to be a similar problem in ejecutaprueba5.py and also in go_to_specific_point_on_map.py at line 33 and later or at line 47 and subsequent lines, etc.

All these errors are fatal to your program.
Reply
#3
@antoninovara I sent you an email concerning this let me know if you did not get it
Reply
#4
Thank you very much! Gribouillis,

I have solved my problems with the tabulation but it has the same errors on both files.

Error:
[INFO] [1572298461.772443]: Go to (1.22, 2.56) pose Traceback (most recent call last): File “ejecutaprueba4.py”, line 94, in window = Ui() File “ejecutaprueba4.py”, line 16, in init self.button.clicked.connect(self.ir(1)) File “ejecutaprueba4.py”, line 80, in ir success = self.goto(position, quaternion) File “ejecutaprueba4.py”, line 43, in goto self.move_base.send_goal(goal) AttributeError: ‘Ui’ object has no attribute ‘move_base’
Error:
Traceback (most recent call last): File “ejecutaprueba5.py”, line 23, in window = Ui() File “ejecutaprueba5.py”, line 17, in init irPuntoMapa = GoToPose() File “/home/mubita/go_to_specific_point_on_map.py”, line 41, in init self.move_base.wait_for_server(rospy.Duration(5)) File “/opt/ros/kinetic/lib/python2.7/dist-packages/actionlib/simple_action_client.py”, line 67, in wait_for_server return self.action_client.wait_for_server(timeout) File “/opt/ros/kinetic/lib/python2.7/dist-packages/actionlib/action_client.py”, line 584, in wait_for_server timeout_time = rospy.get_rostime() + timeout File “/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/rostime.py”, line 190, in get_rostime raise rospy.exceptions.ROSInitException(“time is not initialized. Have you called init_node()?”) rospy.exceptions.ROSInitException: time is not initialized. Have you called init_node()?
I will keep looking for the erros but I know I'm going to need help.

Thanky you very much and regards



(Oct-29-2019, 03:46 PM)Gribouillis Wrote: It seems that some parts of your code are not properly indented. For example in ejecutaprueba4.py, it is probable that line 15 and 16 should be part of the __init__() method and therefore more indented than what is shown in the above post.

Make sure that your editor inserts 4 spaces when you hit the tabulation key and fix the wrongly indented lines in your files first.

There seems to be a similar problem in ejecutaprueba5.py and also in go_to_specific_point_on_map.py at line 33 and later or at line 47 and subsequent lines, etc.

All these errors are fatal to your program.
Reply


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