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Handling two nodes

asked 2014-06-25 06:52:59 -0600

jashanvir gravatar image

updated 2016-12-09 22:12:03 -0600

130s gravatar image

Hello guys ! I have created two nodes In my first node pilot, I am trying to make the quadrotor scan the whole room until it finds a color box and when it finds the color box i stopped my quadrotor and the publish my coordinates to another node 2. But I am getting some errors like in my node 1 my quadrotor stops above the blue box and after the completing of the node i got the following error:

[ERROR] [WallTime: 1403691673.456236] bad callback: <function callback at 0x233ade8>
Traceback (most recent call last):
  **File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/topics.py", line 682, in _invoke_callback
    cb(msg)
  File "/home/user/catkin_ws/src/my_package/scripts/pilot.py", line 84, in callback
    permanent_stop()
  File "/home/user/catkin_ws/src/my_package/scripts/pilot.py", line 117, in permanent_stop
    cmd.publish(motion)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/topics.py", line 798, in publish
    self.impl.publish(data)
  File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/topics.py", line 957, in publish
    raise ROSException("publish() to a closed topic")
ROSException: publish() to a closed topic**

Node 1 (pilot) Code. The following is the first node1 (pilot) . :

#!/usr/bin/env python
import roslib
import sys
import time
import math
import rospy
import cv2
import time
#import cv2.cv as cv
import numpy as np
from std_msgs.msg import Float64
from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import Vector3
from geometry_msgs.msg import Twist
from geometry_msgs.msg import Wrench
from geometry_msgs.msg import Pose
from geometry_msgs.msg import Point
from sensor_msgs.msg import NavSatFix
from sensor_msgs.msg import CameraInfo
from sensor_msgs.msg import Image
from sensor_msgs.msg import RegionOfInterest
from cv_bridge import CvBridge, CvBridgeError
from rospy.numpy_msg import numpy_msg
a=0
b=0
c=0
timer = 0
#class my_class:

def bridge_opencv():
        image_pub = rospy.Publisher("quadrotor/videocamera1/camera_info",Image)

            cv2.namedWindow("Image window", 1)

        image_sub = rospy.Subscriber("quadrotor/videocamera1/image",Image, callback)


def callback(data):
        global timer
        global dis
        global my_var1
        global my_var2
        global my_var3
        global a
        global b
        global c
        bridge = CvBridge()
        try:
            cv_image = bridge.imgmsg_to_cv2(data, "bgr8")
        except CvBridgeError, e:
            print e
        (rows,cols,channels) = cv_image.shape
        if cols > 60 and rows > 60 :
            cv2.circle(cv_image, (50,50), 10, 255)
        #converting bgr to hsv  
        hsv=cv2.cvtColor(cv_image,cv2.COLOR_BGR2HSV)
        # define range of blue color in HSV
            lower_blue = np.array([60,0,0],dtype=np.uint8)
            upper_blue = np.array([255,255,255],dtype=np.uint8)
        # Threshold the HSV image to get only blue colors
            mask = cv2.inRange(hsv, lower_blue, upper_blue)
        new_mask = mask.copy()
        # Bitwise-AND mask and original image
            res = cv2.bitwise_and(cv_image,cv_image, mask= mask)
        #removing noise 
        kernel = np.ones((12,12),np.uint8)
        new_mask = cv2.morphologyEx(new_mask, cv2.MORPH_CLOSE, kernel)
        new_mask = cv2.morphologyEx(new_mask, cv2.MORPH_OPEN, kernel)
        contours, hierarchy = cv2.findContours(new_mask,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
        cv2.drawContours(cv_image, contours, -1, (0,0,0), 3)
        if(contours):
            cv2.drawContours(cv_image, contours, -1, (0,0,0), 3)
            cnt = contours[0]
            area = cv2.contourArea(cnt)
            #print area 
            if ...
(more)
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Comments

1

It might be a good idea to point out, which lines cause the traces. Nobody wants to count lines here. Usually the error messages point to the problem.

dornhege gravatar imagedornhege ( 2014-06-25 07:03:35 -0600 )edit

in node 1 its in permanent_stop(): cmd.publish(motion) and in node 2 its self.a = x1*x1

jashanvir gravatar imagejashanvir ( 2014-06-25 07:08:36 -0600 )edit

1 Answer

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answered 2014-06-25 07:13:24 -0600

dornhege gravatar image

The publisher cmd is permanent_stop is probably not connected as it is just constructed a couple of lines before.

For the second error: x1 simply does not exist in this function. You probably want to refer to self.x1 everywhere.

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Comments

In node 1. so how can connect the publisher. i mean where i can write that command. in node 2 . I tried that. and got AttributeError: ground instance has no attribute 'x1'

jashanvir gravatar imagejashanvir ( 2014-06-25 07:22:02 -0600 )edit

1. This usually happens once when you initialize the node and then you'll pass that around. It is common to put things like this in a class so you don't mess with global variables.

dornhege gravatar imagedornhege ( 2014-06-25 07:46:30 -0600 )edit

2. You'll have to set that first and/or make sure that it is set.

dornhege gravatar imagedornhege ( 2014-06-25 07:46:45 -0600 )edit

can you tell me about the second error. Node 2. ?

jashanvir gravatar imagejashanvir ( 2014-06-30 06:33:59 -0600 )edit
1

You need to set `self.x1` somewhere. You only set `x1`.

dornhege gravatar imagedornhege ( 2014-06-30 06:52:25 -0600 )edit

what if i dont use oop ... can i use this by def where1(msg): x1=msg.data def where2(msg): y1=msg.data def ground(): rospy.init_node("ground") rospy.Subscriber("/box_positiona", Float64, where1) rospy.Subscriber("/box_positionb", Float64, where2) print x1 print y1

jashanvir gravatar imagejashanvir ( 2014-06-30 07:08:02 -0600 )edit

Code in a comment is unreadable. As these are basic python questions unrelated to ROS I'd suggest getting familiar with python, especially scoping, first.

dornhege gravatar imagedornhege ( 2014-06-30 07:58:44 -0600 )edit

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Asked: 2014-06-25 06:52:59 -0600

Seen: 1,504 times

Last updated: Dec 09 '16