Vijeth's profile - activity

Thank you so much Mike. That fixed it. Just to let others know, I added goals=nuric_system.srv.HighLevelGoalsRequest() which gave me NameError: global name 'nuric_system' is not defined Then I changed from nuric_system.srv import HighLevelGoals to from nuric_system.srv import * And that was it!!

Hey,

I m trying to create a script that sends a service message to the server. Everything is good on the server side but I'm trying to build the client side using Python, just to get familiar with Python. However, with my limited knowledge of Python, building complex msgs is proving rather difficult.

I have HighLevelGoals.srv under nuric_sytem which is an array of HighLevelGoal.msg.

HighLevelGoals.srv

*HighLevelGoal[] goals

bool result*

HighLevelGoal.msg

geometry_msgs/PoseStamped goal_pose

string goal_source

My basic code is:

#!/usr/bin/env python

import roslib; roslib.load_manifest('nuric_system')

import sys
import rospy

from nuric_system.srv import HighLevelGoals
from nuric_system.msg import HighLevelGoal


def send_goal():
    rospy.wait_for_service('send_goals')

    send_goal_proxy = rospy.ServiceProxy('send_goals', HighLevelGoals)

    srv_goals=HighLevelGoals()
    goal_1=HighLevelGoal()

    goal_1.goal_source = "goal_sender"  
    goal_1.goal_pose.header.frame_id = "/sender"
    goal_1.goal_pose.pose.position.x =-5.17850098489
    goal_1.goal_pose.pose.position.y =-3.45
    goal_1.goal_pose.pose.position.z =0.0
    goal_1.goal_pose.pose.orientation.x= 0.0
    goal_1.goal_pose.pose.orientation.y= 0.0
    goal_1.goal_pose.pose.orientation.z= 0.192
    goal_1.goal_pose.pose.orientation.w=1.0


    srv_goals.goals.append(goal_1)
    resp1 = send_goal_proxy(srv_goals)

    return 
if __name__ == "__main__":
   send_goal()
   print("goal sent")

when I run it, I get the following error :

**Traceback (most recent call last):
  File "test_goal.py", line 40, in <module>
    send_goal()
  File "test_goal.py", line 33, in send_goal
    srv_goals.goals.append(goal_1)
AttributeError: 'HighLevelGoals' object has no attribute 'goals'**

But HighLevelGoals.srv does have a goals array which should be the same as goal_1 type. Clearly, Im not creating the message correctly. If anyone has any link for appropriate filling of msg arrays, please let me know.

Regards