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Simple Command to robot fails

asked 2017-12-01 09:23:20 -0500

Smoerebroed gravatar image

updated 2017-12-01 15:16:43 -0500

jayess gravatar image

I have a problem writing a simple node that publishes messages of a type called JointVelocity which has 2 objects called velocity of the type JointQuantity and header of the type Header. When I run the following code I get the message:

TypeError: unbound method serialize() must be called with JointVelocity instance as first agrugment (got  String0 instance instead)

Thanks for your help! Code:

#!/usr/bin/env python

import rospy
from std_msgs.msg import String
from std_msgs.msg import Header
from std_msgs.msg import Float32
from iiwa_msgs.msg import JointVelocity


def talker():
    velPub = rospy.Publisher('iiwa/command/JointVelocity',JointVelocity ,queue_size=10)
    rospy.init_node('Velocity_Transmitter', anonymous =False)

    rate = rospy.Rate(0.5) # 10hz
    x = 0
    rospy.loginfo("Talker gestartet")
    while not rospy.is_shutdown():

        rospy.loginfo(str(x))


        x = x + 1

        vel = JointVelocity


        vel.velocity = [Float32(0.1),Float32(0.2),Float32(0.1),Float32(0.1),Float32(0.1),Float32(0.1),Float32(0.1)]

        vel.header= Header()
        vel.header.stamp = rospy.Time.now()
        vel.header.frame_id = ''
        vel.header.seq=1
        rospy.loginfo(vel.velocity[1])
        rospy.loginfo("Velocity will be transmitted")
        velPub.publish(vel)
        rospy.loginfo("Velocity has been transmitted")
        rate.sleep()


if __name__ == '__main__':
  try:
      talker()
  #velocity_talker()
  except rospy.ROSInterruptException:
      pass
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Comments

What's the full error? Many times there's an indication to what line is giving you problems. Also, is this all of your code? I just ran it and got no errors.

jayess gravatar imagejayess ( 2017-12-01 15:12:40 -0500 )edit

1 Answer

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answered 2017-12-04 02:06:13 -0500

Humpelstilzchen gravatar image

updated 2017-12-04 02:06:48 -0500

You have:

vel = JointVelocity
vel.velocity = [Float32(0.1),Float32(0.2),Float32(0.1),Float32(0.1),Float32(0.1),Float32(0.1),Float32(0.1)]

Where you try to feet the velocity values in the JointVelocity class itself. What you want is to create an instance first (Note the braces):

vel = JointVelocity()
vel.velocity = [...]

Also you usually don't need to cast to Float32, so you can simply write

vel.velocity = [0.1, 0.2, 0.1, 0.1, 0.1, 0.1, 0.1]
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Asked: 2017-12-01 09:23:20 -0500

Seen: 326 times

Last updated: Dec 04 '17