SummitXLPose has no attribute '_request_class'
I am following a tutorial from theConstructSim in which I am trying to create a service which when called will write the current coordinate position of the robot to a file.
However, the rospy.service function call is immediately triggering the following error when I perform a rosrun on the code:
Traceback (most recent call last):
File "/home/user/catkin_ws/src/my_summit_xl_tools/src/spots_to_file.py", line 79, in <module>
startPoseService()
File "/home/user/catkin_ws/src/my_summit_xl_tools/src/spots_to_file.py", line 75, in startPoseService
summitpose = SummitXLPose()
File "/home/user/catkin_ws/src/my_summit_xl_tools/src/spots_to_file.py", line 35, in __init__
self.pose_service = rospy.Service('/get_pose_summitxl_service', SummitXLPose , self.pose_service_callback)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 711,in __init__
error_handler)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 544,in __init__
super(ServiceImpl, self).__init__(name, service_class)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/service.py", line 59, in __init__
self.request_class = service_class._request_class
AttributeError: type object 'SummitXLPose' has no attribute '_request_class'
Here's the code I am running:
#! /usr/bin/env python
import os
import rospy
from my_summit_xl_tools.srv import SummitXLPose, SummitXLPoseResponse, SummitXLPoseRequest
from geometry_msgs.msg import PoseWithCovarianceStamped
import rospkg
"""
# topic: /amcl_pose
# geometry_msgs/PoseWithCovarianceStamped
std_msgs/Header header
uint32 seq
time stamp
string frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/Pose pose
geometry_msgs/Point position
float64 x
float64 y
float64 z
geometry_msgs/Quaternion orientation
float64 x
float64 y
float64 z
float64 w
float64[36] covariance
"""
class SummitXLPose(object):
def __init__(self):
rospy.loginfo("---> Starting Service ...")
print(dir(SummitXLPose))
self.pose_service = rospy.Service('/get_pose_summitxl_service', SummitXLPose , self.pose_service_callback)
...
def start_loop_service(self):
rospy.spin() # mantain the service open.
def pose_service_callback(self, request):
rospy.loginfo("... testing ...")
spot_name = request.label
with open(self.spot_file_path, "a") as myfile:
spot_pose = self.pose_now.pose.pose
myfile.write(spot_name+":\n"+str(spot_pose)+"\n\n")
response = SummitXLPoseResponse()
response.navigation_successfull = True
response.message = "Spot <"+spot_name+"> Saved"
return response
def amcl_pose_callback(self, message):
self.pose_now = message
def startPoseService():
rospy.init_node('summitxl_poseservice_server')
summitpose = SummitXLPose()
summitpose.start_loop_service()
if __name__ == "__main__":
startPoseService()
My SummitXLPose service is defined as follows:
# request
string label
---
#response
bool navigation_successfull
string message
Degugging the SummitXLPose class shows a lot of data but nothing of the request and response of the service that I expected to see as denoted in this question:
[INFO] [1613683896.890733, 0.000000]: ---> Starting Service ...
[
'__class__',
'__delattr__',
'__dict__',
'__doc__',
'__format__',
'__getattribute__',
'__hash__',
'__init__',
'__module__',
'__new__',
'__reduce__',
'__reduce_ex__',
'__repr__',
'__setattr__',
'__sizeof__',
'__str__',
'__subclasshook__',
'__weakref__',
'amcl_pose_callback',
'pose_service_callback',
'start_loop_service'
]
It seems to me the absence of a _request_class attribute in the debug information is clearly the reason for my issue (as shown in the error above as compared to the question linked above) but I don't know how to resolve this issue.
I'd appreciate any help.
