ros-visualization / executive_smach_visualization Goto Github PK

ROS Kinetic, Ubuntu 16.04

$ uname -a
Linux daikimaekawa-ThinkPad-X230 4.4.0-154-generic #181-Ubuntu SMP Tue Jun 25 05:29:03 UTC 2019 x86_64 x86_64 x86_64 GNU/Linux

$ dot -V
dot - graphviz version 2.38.0 (20140413.2041)

Hello,

I followed the tutorial for learning smach but when it came to visualize the state machine by running rosrun smach_viewer smach_viewer.py. I have this errors that appears :

wxversion 2.8 is not installed, installed versions are ['3.0-gtk3']
Gtk-Message: 11:47:05.233: Failed to load module "canberra-gtk-module"
wxversion 2.8 is not installed, installed versions are ['3.0-gtk3']

(smach_viewer.py:1744): GLib-GObject-WARNING **: 11:47:05.887: cannot register existing type 'GdkDisplayManager'

(smach_viewer.py:1744): GLib-CRITICAL **: 11:47:05.887: g_once_init_leave: assertion 'result != 0' failed

(smach_viewer.py:1744): GLib-GObject-CRITICAL **: 11:47:05.887: g_object_new_with_properties: assertion 'G_TYPE_IS_OBJECT (object_type)' failed

Do you know why I receive this error and how to fix it ?

Thanks for your help

I've tried to implement a simple SMACH state-machine and visualize it with smach_viewer. According to the terminal output, the state machine itself runs perfectly fine.
When I start smach_viewer, it throws the following error:

[ERROR] [1599821587.164191]: bad callback: <bound method SmachViewerFrame._status_msg_update of <__main__.SmachViewerFrame; proxy of <Swig Object of type 'wxFrame *' at 0x55616f7eb050> >> Traceback (most recent call last): File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/home/faps/catkin_ws/src/executive_smach_visualization/smach_viewer/scripts/smach_viewer.py", line 844, in _status_msg_update if container.update_status(msg): File "/home/faps/catkin_ws/src/executive_smach_visualization/smach_viewer/scripts/smach_viewer.py", line 185, in update_status self._local_data._data = pickle.loads(msg.local_data) File "/usr/lib/python2.7/pickle.py", line 1388, in loads return Unpickler(file).load() File "/usr/lib/python2.7/pickle.py", line 864, in load dispatch[key](self) File "/usr/lib/python2.7/pickle.py", line 1157, in load_get self.append(self.memo[self.readline()[:-1]]) KeyError: 'AJ9cQA'

I'm using:

• Ubuntu 18.04
• ROS Melodic (catkin_ws configured with Python3!)

My state-machine is implemented as follows:

 #!/usr/bin/env python3

 import smach
 import smach_ros
 import rospy

 class t1(smach.State):
  def __init__(self, outcomes=['successful', 'failed']):
      smach.State.__init__(self, outcomes)

  def execute(self, userdata):
      return 'successful'

class t2(smach.State):
  def __init__(self, outcomes=['successful']):
      smach.State.__init__(self, outcomes)

  def execute(self, userdata):
      return 'successful'

class t3(smach.State):
  def __init__(self, outcomes=['successful']):
      smach.State.__init__(self, outcomes)

  def execute(self, userdata):
      return 'successful'


if __name__=="__main__":
  rospy.init_node('test_state_machine')
  sm_top = smach.StateMachine(outcomes=['success'])
  with sm_top:
      smach.StateMachine.add('T1', t1(),
                                 transitions={'successful': 'T2', 'failed': 'T3'})
      smach.StateMachine.add('T2', t2(),
                                 transitions={'successful': 'T1'})
      smach.StateMachine.add('T3', t3(),
                                 transitions={'successful': 'success'})

  # Create and start the introspection server
  sis = smach_ros.IntrospectionServer('introspection_server', sm_top, '/SM_ROOT')
  sis.start()
  # Execute SMACH plan
  outcome = sm_top.execute()
  # Wait for ctrl-c to stop the application
  rospy.spin()
  sis.stop()

Did I miss something or do you have any ideas what could cause the problem?

In smach_viewer, I get a "Path not available" message and no visualization when the path is set to "/" as shown below:

From @jbohren's old rqt_smach.md, I expected to be able to view independent SMACH FSMs on the same canvas, specifically b/c rqt_smach.md has this screenshot:

Is this a bug in smach_viewer?

Also, is smach_viewer the successor to rqt_smach or do the two have different (but similar) capabilities?

Like "import StringIO" in File "~/smach_viewer/smach_viewer.py", line 44, in import StringIO

I would deeply appreciate that if you can update this lib to the noetic version.

Enhancement request.

Saving Dot code or image as available in rqt_graph would be nice.

Hey all,

In the documentation of Smach it says Smach is a stand-alone library with ROS integration added.
I tried this and it does work in python by itself.
Now im wondering if the smach viewer can also be ran as a stand alone tool, so without the use of ROS.

Kind regards,
Jan Tromp

Would it be possible to trigger a new binary release for noetic?

We're happily using part of the work done in #46. So it would be nice if this could be released.

Hey everyone,

The smach viewer was working okay but at random moments it would close itself for no reason.
Error being:

Segmentation fault (core dumped)

At startup i got the message:

wxversion 2.8 is not installed, installed versions are ['3.0-gtk2']
wxversion 2.8 is not installed, installed versions are ['3.0-gtk2']

So i thought maybe update this, maybe that will fix it.

so i updated wxPython by (found in this link https://wiki.wxpython.org/How%20to%20install%20wxPython):

pip install -U \ -f https://extras.wxpython.org/wxPython4/extras/linux/gtk3/ubuntu-16.04 \wxPython

This downloaded 102 MB of data and installed the following packages:
Pillow, six, wxPython

After that i started the smach viewer again and got the following error:

Traceback (most recent call last):
File "/home/assembly_project/src/executive_smach_visualization/smach_viewer/scripts/smach_viewer.py", line 77, in
from smach_viewer import xdot
File "/home/assembly_project/src/executive_smach_visualization/smach_viewer/src/smach_viewer/xdot/init.py", line 1, in
import wxxdot
File "/home/assembly_project/src/executive_smach_visualization/smach_viewer/src/smach_viewer/xdot/wxxdot.py", line 45, in
gdkLib = wx.lib.wxcairo._findGDKLib()
AttributeError: 'module' object has no attribute '_findGDKLib'

Anyone able to help me get this back?

I am not that expecrienced with linux so i dont know what all the commands mean when installing something.
I'm afraid i messed it up and i'm not able to fix this by myself.

If there are any questions or things unclear, feel free to drop a comment.

Kind regards,
Jan Tromp

Would you mind releasing these packages also for the newest distribution ROS Noetic? :)

I can start smach_viewer like:
rosrun smach_viewer smach_viewer.py

I like to start it as a node inside a launch file like:
<node pkg="smach_viewer" name="smach_viewer" type="smach_viewer.py"/>

However I always get following error message:

usage: smach_viewer.py [-h] [-f]
smach_viewer.py: error: unrecognized arguments: __name:=smach_viewer_1 __log:=/tmp/ros_stephanh/7f335adc-a762-11e7-9444-0cc47ae2606c/smach_viewer_1-4.log
[smach_viewer_1-4] process has died [pid 30266, exit code 2, cmd /hri/localdisk/stephanh/care_ros_ws/src/executive_smach_visualization/smach_viewer/scripts/smach_viewer.py __name:=smach_viewer_1 __log:=/tmp/ros_stephanh/7f335adc-a762-11e7-9444-0cc47ae2606c/smach_viewer_1-4.log].                       
log file: /tmp/ros_stephanh/7f335adc-a762-11e7-9444-0cc47ae2606c/smach_viewer_1-4*.log 

I think this is because the ROS remapping arguments are not removed from sys.argv before argparsing. A solution that worked for me is following code inside smach_viewer.py

if __name__ == '__main__':
    rospy.init_node('smach_viewer', argv=sys.argv, anonymous=False, disable_signals=True, log_level=rospy.INFO)
    sys.argv = rospy.myargv(argv=sys.argv)

    main()

However, I am not sure if this is the correct way to do it.

From https://docs.python.org/3.0/whatsnew/3.0.html

The StringIO and cStringIO modules are gone. Instead, import the io module and use io.StringIO or io.BytesIO for text and data respectively.

possible solution:

try:
    import StringIO 
except ImportError:
    from io import StringIO 

It seems xdot api has changed in Ubuntu 14.04/ Indigo and this breaks smach_viewer.py. The details are in the following question I posted on answers.ros.org.

http://answers.ros.org/question/186955/smach_viewer-does-not-work-in-indigo/

The error message when I run smach_viewer.py is as follows.

[aravind@jeeves simple_smach]$ rosrun smach_viewer smach_viewer.py
Exception in thread Thread-6:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line 763, in run
self.__target(_self.__args, *_self.__kwargs)
File "/opt/ros/indigo/lib/smach_viewer/smach_viewer.py", line 848, in _update_graph
self.set_dotcode(dotstr,zoom=False)
File "/opt/ros/indigo/lib/smach_viewer/smach_viewer.py", line 866, in set_dotcode
if self.widget.set_dotcode(dotcode, None):
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/wxxdot.py", line 455, in set_dotcode
self.set_xdotcode(xdotcode)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/wxxdot.py", line 483, in set_xdotcode
self.graph = parser.parse()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1146, in parse
DotParser.parse(self)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 951, in parse
self.parse_graph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 960, in parse_graph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 993, in parse_stmt
self.parse_subgraph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 974, in parse_subgraph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 993, in parse_stmt
self.parse_subgraph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 974, in parse_subgraph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1009, in parse_stmt
self.handle_node(id, attrs)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 1120, in handle_node
shapes.extend(parser.parse())
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 608, in parse
points = self.read_polygon()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 503, in read_polygon
x, y = self.read_point()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 486, in read_point
x = self.read_number()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line 480, in read_number
return int(self.read_code())
ValueError: invalid literal for int() with base 10: '79.92'

It seems the smach_viewer.py script did not make it into the Hydro Debian packages under Ubuntu 12.04. Was that an oversight? Or is it no longer compatible?

I have been looking at the various forks( @jbohren 's as well) to find a way to run the smach_viewer on Kinetic but without success.
I know you guys are struggling with the new version of wxPython and xdot.

Whether it runs on the new coming rqt plugin or not, I would love to know if someone succeeded in running a viewer for smach on Kinetic.

Keep on the great work!

Hi guys 👋, after nearly two years, the issue of porting SMACH to ROS 2 is alive again. Current details can be found here ➡️ ros/executive_smach#70. It might be a good idea to synchronize porting of both executive_smach and executive_smach_visualization. I suggest that the maintainer of this repository create a ros2 branch so that there is something to merge pull requests to.