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2015-01-29 10:12:40 -0500 commented answer TypeError: cannot marshal <type 'numpy.float64'> objects

it works! thank you!
2015-01-29 09:44:17 -0500 asked a question TypeError: cannot marshal <type 'numpy.float64'> objects

I have a script that doesn't let me write on the parameter server . This is the script

  #!/usr/bin/env python

import rospy
from rospy.numpy_msg import numpy_msg
from rospy_tutorials.msg import Floats

import numpy as np
from scipy import integrate
from matplotlib.pylab import *

def diffDrive(t, y, u):
    # Assign some variables for convenience of notation
    X = y[0]
    Y = y[1]
    T = y[2]
    V = u[0]
    W = u[1]

    # Output from ODE function must be a COLUMN vector, with n rows
    n = len(y)      # 3: implies we have three ODEs
    dydt = np.zeros((n,1))
    dydt[0] = V * cos(T)
    dydt[1] = V * sin(T)
    dydt[2] = W
    return dydt
def callback(data):
    # Start by specifying the integrator:
    # use ``vode`` with "backward differentiation formula"
    r = integrate.ode(diffDrive).set_integrator('vode', method='bdf')

    # Set the time range
    t_start = 0.0
    delta_t = 0.01

    # Set initial condition(s): for integrating variable and time!
    X_t_zero = float(rospy.get_param('/x', '0.0'))
    Y_t_zero = float(rospy.get_param('/y', '0.0'))
    T_t_zero = float(rospy.get_param('/theta', '0.0'))

    r.set_initial_value([X_t_zero, Y_t_zero, T_t_zero], t_start)

    # Integrate the ODE
    r.set_f_params(data.data)
    r.integrate(r.t + delta_t)

    # results
    t = r.t
    X = r.y[0]
    Y = r.y[1]
    T = r.y[2]

    # Publish on topic
    pub = rospy.Publisher('x_y_theta', numpy_msg(Floats) ,queue_size=10)
    pub.publish(r.y)

    # Publish on parameter server
    rospy.set_param('x', X)
    rospy.set_param('y', Y)
    rospy.set_param('theta', T)

def sim():
    rospy.init_node('sim', anonymous=True)
    rospy.Subscriber("v_omega", numpy_msg(Floats), callback)
    rospy.spin()

if __name__ == '__main__':
    sim()

and this is the error

[ERROR] [WallTime: 1422545577.129270] bad callback: <function callback at 0x7f0be6c8f6e0>
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 702, in _invoke_callback
    cb(msg)
  File "/home/viki/catkin_ws/src/wheelchair/scripts/sim.py", line 58, in callback
    rospy.set_param('x', X)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/client.py", line 502, in set_param
    _param_server[param_name] = param_value #MasterProxy does all the magic for us
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/msproxy.py", line 148, in __setitem__
    self.target.setParam(rospy.names.get_caller_id(), rospy.names.resolve_name(key), val)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1224, in __call__
    return self.__send(self.__name, args)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1572, in __request
    allow_none=self.__allow_none)
  File "/usr/lib/python2.7/xmlrpclib.py", line 1085, in dumps
    data = m.dumps(params)
  File "/usr/lib/python2.7/xmlrpclib.py", line 632, in dumps
    dump(v, write)
  File "/usr/lib/python2.7/xmlrpclib.py", line 646, in __dump
    raise TypeError, "cannot marshal %s objects" % type(value)
TypeError: cannot marshal <type 'numpy.float64'> objects

The params are initialised with a .launch or loading a .yaml . The result is the same. I use ROS indigo on a virtual box machine running on a mac osx. Does someone know how to help me ?
2015-01-21 02:37:52 -0500 commented answer error parsing manifest

thank you :)
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2015-01-21 01:18:56 -0500 asked a question error parsing manifest

Hello, I was following the tutorial "creating a ROS package by hand".

In my catkin_ws/src I created a folder mpc_wheelchair_pkg and I put a manifest there called "package.xml" and edited it like this

<package>

<name>mpc_wheelchair</name>
<version>0.0.0</version>
<description>blabla</description>
<mainteiner email="blabla@blabla">blabla</maintainer>
<license>BSD</license>

<buildtool_depend>catkin</buoldtool_depend>

<build_depend>rospy</build_depend>
<build_depend>std_msg</build_depend>

<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>

</package>

then I tried to use rospack as the tutorial suggested and this happened

viki@c3po:~$ rospack find mpc_wheelchair
    terminate called after throwing an instance of 'rospack::Exception'
      what():  error parsing manifest of package mpc_wheelchair_pkg at /home/viki/catkin_ws/src/mpc_wheelchair_pkg/package.xml
    Aborted

moreover if I now try "rospack find" with something else I always get the same exception

viki@c3po:~$ rospack find beginner_tutorials
terminate called after throwing an instance of 'rospack::Exception'
  what():  error parsing manifest of package mpc_wheelchair_pkg at /home/viki/catkin_ws/src/mpc_wheelchair_pkg/package.xml
Aborted

Does someone know what I should do? I use ROS indigo on a virtualboxed ubuntu.
2014-12-03 12:12:37 -0500 received badge ● Enthusiast
2014-12-02 09:18:58 -0500 asked a question Do you think it is possble to use V-rep on macosx with ROS on a virtual machine?

I'm using ROS and V-rep running on an Ubuntu mounted on a virtual box on my Mac. Since the moment that V-rep runs non that fluent on the virtual machine, I was wondering if it is possible to run V-rep on macosx but using the rosnodes of Ubuntu on the virtual box.
2014-11-11 12:27:27 -0500 asked a question failure in building vrep_plugin

I installed ROS indigo on OS X 10.9.5 (Mavericks). I did the desktop installation following the tutorial http://wiki.ros.org/indigo/Installati... .

I have to make ROS working with V-REP so I want the v-rep plugins and I was "kind of" following the tutorial http://www.coppeliarobotics.com/helpF... .

This is what I obtained trying to build the vrep_plugin:

Pietros-MacBook-Pro:ros_catkin_ws me$ catkin_make_isolated --source src/vrep
Base path: /Users/me/ros_catkin_ws
Source space: /Users/me/ros_catkin_ws/src/vrep
Build space: /Users/me/ros_catkin_ws/build_isolated
Devel space: /Users/me/ros_catkin_ws/devel_isolated
Install space: /Users/me/ros_catkin_ws/install_isolated
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~  traversing 1 packages in topological order:
~~  - vrep_plugin
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The packages or cmake arguments have changed, forcing cmake invocation

==> Processing catkin package: 'vrep_plugin'
==> cmake /Users/me/ros_catkin_ws/src/vrep/vrep_plugin -DCATKIN_DEVEL_PREFIX=/Users/me/ros_catkin_ws/devel_isolated/vrep_plugin -DCMAKE_INSTALL_PREFIX=/Users/me/ros_catkin_ws/install_isolated in '/Users/me/ros_catkin_ws/build_isolated/vrep_plugin'
-- Using CATKIN_DEVEL_PREFIX: /Users/me/ros_catkin_ws/devel_isolated/vrep_plugin
-- Using CMAKE_PREFIX_PATH: /Users/me/ros_catkin_ws/devel_isolated/xacro;/Users/me/ros_catkin_ws/install_isolated
-- This workspace overlays: /Users/me/ros_catkin_ws/devel_isolated/xacro;/Users/me/ros_catkin_ws/install_isolated
-- Using PYTHON_EXECUTABLE: /usr/local/bin/python
-- Using default Python package layout
-- Using empy: /Library/Python/2.7/site-packages/em.pyc
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /Users/me/ros_catkin_ws/build_isolated/vrep_plugin/test_results
-- Found gtest: gtests will be built
-- Using Python nosetests: /usr/local/bin/nosetests-2.7
-- catkin 0.6.9
-- Using these message generators: gencpp;genlisp;genpy
-- Configuring done
CMake Warning (dev):
  Policy CMP0042 is not set: MACOSX_RPATH is enabled by default.  Run "cmake
  --help-policy CMP0042" for policy details.  Use the cmake_policy command to
  set the policy and suppress this warning.

  MACOSX_RPATH is not specified for the following targets:

   v_repExtRos

This warning is for project developers.  Use -Wno-dev to suppress it.

-- Generating done
-- Build files have been written to: /Users/me/ros_catkin_ws/build_isolated/vrep_plugin
==> make -j4 -l4 in '/Users/me/ros_catkin_ws/build_isolated/vrep_plugin'
Scanning dependencies of target sensor_msgs_generate_messages_cpp
Scanning dependencies of target sensor_msgs_generate_messages_lisp
Scanning dependencies of target actionlib_msgs_generate_messages_cpp
[  0%] Scanning dependencies of target sensor_msgs_generate_messages_py
Built target sensor_msgs_generate_messages_lisp
[  0%] Built target sensor_msgs_generate_messages_cpp
[  0%] Built target actionlib_msgs_generate_messages_cpp
[  0%] Built target sensor_msgs_generate_messages_py
Scanning dependencies of target tf2_msgs_generate_messages_py
Scanning dependencies of target tf2_msgs_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_cpp
[  0%] Scanning dependencies of target geometry_msgs_generate_messages_lisp
[  0%] Built target tf2_msgs_generate_messages_lisp
Built target tf2_msgs_generate_messages_py
[  0%] Built target std_msgs_generate_messages_cpp
[  0%] Built target geometry_msgs_generate_messages_lisp
Scanning dependencies of target vrep_common_generate_messages_cpp
Scanning dependencies of target geometry_msgs_generate_messages_py
Scanning dependencies of target rosgraph_msgs_generate_messages_cpp
[  0%] [  0%] Scanning dependencies of target rosgraph_msgs_generate_messages_lisp
Built target vrep_common_generate_messages_cpp
Built target geometry_msgs_generate_messages_py
[  0%] Built target rosgraph_msgs_generate_messages_cpp
Scanning dependencies of target rosgraph_msgs_generate_messages_py
[  0%] Scanning dependencies of target tf2_msgs_generate_messages_cpp
Built target rosgraph_msgs_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_lisp
[  0%] [  0%] Built target tf2_msgs_generate_messages_cpp
Built target rosgraph_msgs_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_py
[  0%] Built target std_msgs_generate_messages_lisp
Scanning dependencies of target geometry_msgs_generate_messages_cpp
Scanning dependencies of target vrep_common_generate_messages_lisp
[  0%] Built target std_msgs_generate_messages_py
[  0%] Scanning dependencies of target vrep_common_generate_messages_py
Built target geometry_msgs_generate_messages_cpp
[  0%] Built target vrep_common_generate_messages_lisp
Scanning dependencies of target roscpp_generate_messages_lisp
[  0%] Built target vrep_common_generate_messages_py
Scanning dependencies of target roscpp_generate_messages_py
Scanning dependencies of target roscpp_generate_messages_cpp
[  0%] Built target roscpp_generate_messages_lisp
Scanning dependencies ...
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