Issues Connecting to SPOT. #129

te5msride · 2023-08-16T15:29:40Z

te5msride
Aug 16, 2023

I seem to be able to connect to my SPOT through WIFI, but I am getting an issue creating the client service. Any assistance would be greatly appreciated.

$ ros2 launch spot_driver spot_driver.launch.py

[INFO] [launch]: All log files can be found below /home/trevor/.ros/log/2023-08-16-10-21-08-413160-trevor-XPS-17-9710-51359
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: .
[INFO] [spot_ros2-1]: process started with pid [51360]
[INFO] [robot_state_publisher-2]: process started with pid [51362]
[robot_state_publisher-2] [INFO] [1692199268.542834552] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1692199268.542895505] [robot_state_publisher]: got segment body
[robot_state_publisher-2] [INFO] [1692199268.542900014] [robot_state_publisher]: got segment front_left_hip
[robot_state_publisher-2] [INFO] [1692199268.542902951] [robot_state_publisher]: got segment front_left_lower_leg
[robot_state_publisher-2] [INFO] [1692199268.542905815] [robot_state_publisher]: got segment front_left_upper_leg
[robot_state_publisher-2] [INFO] [1692199268.542908391] [robot_state_publisher]: got segment front_rail
[robot_state_publisher-2] [INFO] [1692199268.542911048] [robot_state_publisher]: got segment front_right_hip
[robot_state_publisher-2] [INFO] [1692199268.542913613] [robot_state_publisher]: got segment front_right_lower_leg
[robot_state_publisher-2] [INFO] [1692199268.542916370] [robot_state_publisher]: got segment front_right_upper_leg
[robot_state_publisher-2] [INFO] [1692199268.542919031] [robot_state_publisher]: got segment rear_left_hip
[robot_state_publisher-2] [INFO] [1692199268.542921585] [robot_state_publisher]: got segment rear_left_lower_leg
[robot_state_publisher-2] [INFO] [1692199268.542924123] [robot_state_publisher]: got segment rear_left_upper_leg
[robot_state_publisher-2] [INFO] [1692199268.542926695] [robot_state_publisher]: got segment rear_rail
[robot_state_publisher-2] [INFO] [1692199268.542929230] [robot_state_publisher]: got segment rear_right_hip
[robot_state_publisher-2] [INFO] [1692199268.542931765] [robot_state_publisher]: got segment rear_right_lower_leg
[robot_state_publisher-2] [INFO] [1692199268.542934381] [robot_state_publisher]: got segment rear_right_upper_leg
[spot_ros2-1] [INFO] [1692199270.182921736] [spot_ros2]: Hi from spot_driver.
[spot_ros2-1] [INFO] [1692199270.187695684] [spot_ros2]: Starting ROS driver for Spot
[spot_ros2-1] [INFO] [1692199270.190342895] [spot_wrapper]: Initialising robot at 192.168.80.3
[spot_ros2-1] [INFO] [1692199270.190680809] [spot_wrapper]: Trying to authenticate with robot...
[spot_ros2-1] [INFO] [1692199270.984957916] [spot_wrapper]: Successfully authenticated.
[spot_ros2-1] [INFO] [1692199271.293863598] [spot_wrapper]: Creating clients...
[spot_ros2-1] [WARN] [1692199271.412714952] [spot_wrapper]: Unable to create client service: local variable 'e' referenced before assignment. This usually means the robot hasn't finished booting yet. Will wait 15 seconds and try again.
[spot_ros2-1] [WARN] [1692199286.424177978] [spot_wrapper]: Unable to create client service: local variable 'e' referenced before assignment. This usually means the robot hasn't finished booting yet. Will wait 15 seconds and try again.
[spot_ros2-1] [WARN] [1692199301.449532272] [spot_wrapper]: Unable to create client service: local variable 'e' referenced before assignment. This usually means the robot hasn't finished booting yet. Will wait 15 seconds and try again.
[spot_ros2-1] [WARN] [1692199316.478060094] [spot_wrapper]: Unable to create client service: local variable 'e' referenced before assignment. This usually means the robot hasn't finished booting yet. Will wait 15 seconds and try again.
[spot_ros2-1] [WARN] [1692199331.513036971] [spot_wrapper]: Unable to create client service: local variable 'e' referenced before assignment. This usually means the robot hasn't finished booting yet. Will wait 15 seconds and try again.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

Answered by te5msride

Aug 16, 2023

It looks like this was a workaround that ended up working
I changed the following code of wrapper.py:

if HAVE_CHOREOGRAPHY:
    if self._license_client.get_feature_enabled([ChoreographyClient.license_name])[ChoreographyClient.license_name]:
        self._is_licensed_for_choreography = True
        self._choreography_client = self._robot.ensure_client(ChoreographyClient.default_service_name)
    else:
        self._logger.info(f"Robot is not licensed for choreography: {e}")
        ...

to:

if HAVE_CHOREOGRAPHY:
    try:
        if self._license_client.get_feature_enabled([ChoreographyClient.license_name])[ChoreographyClient.license_name]:
            self._is_licensed_for_choreography = T…

View full answer

heuristicus · 2023-08-16T15:59:13Z

heuristicus
Aug 16, 2023

This is odd. For some reason the lines here in the wrapper https://github.com/bdaiinstitute/spot_wrapper/blob/68d5e79162571d81939bb07decae9de41d6384a2/spot_wrapper/wrapper.py#L551-L559 are executing because of some variable e being referenced. The only reference I see is the exception itself. Do you have the most up to date wrapper?

If you add

import traceback
print(traceback.format_exc())

to the except block, can you see where the uninitialised variable is?

3 replies

te5msride Aug 16, 2023
Author

I should have the most up-to-date wrapper. I made the suggested addition.

$ ros2 launch spot_driver spot_driver.launch.py

[INFO] [launch]: All log files can be found below /home/trevor/.ros/log/2023-08-16-11-36-32-195025-trevor-XPS-17-9710-98291
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: .
[INFO] [spot_ros2-1]: process started with pid [98292]
[INFO] [robot_state_publisher-2]: process started with pid [98294]
[robot_state_publisher-2] [INFO] [1692203792.326703202] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1692203792.326778622] [robot_state_publisher]: got segment body
[robot_state_publisher-2] [INFO] [1692203792.326783246] [robot_state_publisher]: got segment front_left_hip
[robot_state_publisher-2] [INFO] [1692203792.326786428] [robot_state_publisher]: got segment front_left_lower_leg
[robot_state_publisher-2] [INFO] [1692203792.326789582] [robot_state_publisher]: got segment front_left_upper_leg
[robot_state_publisher-2] [INFO] [1692203792.326792539] [robot_state_publisher]: got segment front_rail
[robot_state_publisher-2] [INFO] [1692203792.326795630] [robot_state_publisher]: got segment front_right_hip
[robot_state_publisher-2] [INFO] [1692203792.326798360] [robot_state_publisher]: got segment front_right_lower_leg
[robot_state_publisher-2] [INFO] [1692203792.326801200] [robot_state_publisher]: got segment front_right_upper_leg
[robot_state_publisher-2] [INFO] [1692203792.326803876] [robot_state_publisher]: got segment rear_left_hip
[robot_state_publisher-2] [INFO] [1692203792.326806632] [robot_state_publisher]: got segment rear_left_lower_leg
[robot_state_publisher-2] [INFO] [1692203792.326809303] [robot_state_publisher]: got segment rear_left_upper_leg
[robot_state_publisher-2] [INFO] [1692203792.326812072] [robot_state_publisher]: got segment rear_rail
[robot_state_publisher-2] [INFO] [1692203792.326814758] [robot_state_publisher]: got segment rear_right_hip
[robot_state_publisher-2] [INFO] [1692203792.326817488] [robot_state_publisher]: got segment rear_right_lower_leg
[robot_state_publisher-2] [INFO] [1692203792.326820227] [robot_state_publisher]: got segment rear_right_upper_leg
[spot_ros2-1] [INFO] [1692203793.804449394] [spot_ros2]: Hi from spot_driver.
[spot_ros2-1] [INFO] [1692203793.809144220] [spot_ros2]: Starting ROS driver for Spot
[spot_ros2-1] [INFO] [1692203793.810970985] [spot_wrapper]: Initialising robot at 192.168.80.3
[spot_ros2-1] [INFO] [1692203793.811211189] [spot_wrapper]: Trying to authenticate with robot...
[spot_ros2-1] [INFO] [1692203794.593466964] [spot_wrapper]: Successfully authenticated.
[spot_ros2-1] [INFO] [1692203794.716460182] [spot_wrapper]: Creating clients...
[spot_ros2-1] [WARN] [1692203794.789660696] [spot_wrapper]: Unable to create client service: local variable 'e' referenced before assignment. This usually means the robot hasn't finished booting yet. Will wait 15 seconds and try again.
[spot_ros2-1] [WARN] [1692203809.816419877] [spot_wrapper]: Unable to create client service: local variable 'e' referenced before assignment. This usually means the robot hasn't finished booting yet. Will wait 15 seconds and try again.
[spot_ros2-1] [WARN] [1692203824.837738465] [spot_wrapper]: Unable to create client service: local variable 'e' referenced before assignment. This usually means the robot hasn't finished booting yet. Will wait 15 seconds and try again.
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-2] [INFO] [1692203831.368319651] [rclcpp]: signal_handler(signum=2)
[spot_ros2-1] Traceback (most recent call last):
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_wrapper/spot_wrapper/wrapper.py", line 779, in __init__
[spot_ros2-1]     f"Robot is not licensed for choreography: {e}"
[spot_ros2-1] UnboundLocalError: local variable 'e' referenced before assignment
[spot_ros2-1] 
[spot_ros2-1] Traceback (most recent call last):
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_wrapper/spot_wrapper/wrapper.py", line 779, in __init__
[spot_ros2-1]     f"Robot is not licensed for choreography: {e}"
[spot_ros2-1] UnboundLocalError: local variable 'e' referenced before assignment
[spot_ros2-1] 
[spot_ros2-1] Traceback (most recent call last):
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_wrapper/spot_wrapper/wrapper.py", line 779, in __init__
[spot_ros2-1]     f"Robot is not licensed for choreography: {e}"
[spot_ros2-1] UnboundLocalError: local variable 'e' referenced before assignment
[spot_ros2-1] 
[spot_ros2-1] Traceback (most recent call last):
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_wrapper/spot_wrapper/wrapper.py", line 779, in __init__
[spot_ros2-1]     f"Robot is not licensed for choreography: {e}"
[spot_ros2-1] UnboundLocalError: local variable 'e' referenced before assignment
[spot_ros2-1] 
[spot_ros2-1] During handling of the above exception, another exception occurred:
[spot_ros2-1] 
[spot_ros2-1] Traceback (most recent call last):
[spot_ros2-1]   File "/home/trevor/ros2_workspace/install/spot_driver/lib/spot_driver/spot_ros2", line 33, in <module>
[spot_ros2-1]     sys.exit(load_entry_point('spot-driver', 'console_scripts', 'spot_ros2')())
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_driver/spot_driver/spot_ros2.py", line 2210, in main
[spot_ros2-1]     spot_ros = SpotROS()
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_driver/spot_driver/spot_ros2.py", line 308, in __init__
[spot_ros2-1]     self.spot_wrapper = SpotWrapper(
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_wrapper/spot_wrapper/wrapper.py", line 817, in __init__
[spot_ros2-1]     time.sleep(sleep_secs)
[spot_ros2-1] KeyboardInterrupt

te5msride Aug 16, 2023
Author

It looks like this was a workaround that ended up working
I changed the following code of wrapper.py:

if HAVE_CHOREOGRAPHY:
    if self._license_client.get_feature_enabled([ChoreographyClient.license_name])[ChoreographyClient.license_name]:
        self._is_licensed_for_choreography = True
        self._choreography_client = self._robot.ensure_client(ChoreographyClient.default_service_name)
    else:
        self._logger.info(f"Robot is not licensed for choreography: {e}")
        ...

to:

if HAVE_CHOREOGRAPHY:
    try:
        if self._license_client.get_feature_enabled([ChoreographyClient.license_name])[ChoreographyClient.license_name]:
            self._is_licensed_for_choreography = True
            self._choreography_client = self._robot.ensure_client(ChoreographyClient.default_service_name)
        else:
            raise Exception("Robot is not licensed for choreography")
    except Exception as choreo_exception:
        self._logger.info(f"Robot is not licensed for choreography: {choreo_exception}")
        ...

Appreciate you helping me out, thanks a ton.

Answer selected by te5msride

heuristicus Aug 16, 2023

I'm fairly certain that your wrapper is out of date. The latest wrapper should not have the incorrect {e} in the logger info line, which was fixed in this commit. If you go to your spot_ros2 directory and run git submodule update it should be updated to the correct version.

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Issues Connecting to SPOT. #129

te5msride Aug 16, 2023

Replies: 1 comment · 3 replies

heuristicus Aug 16, 2023

te5msride Aug 16, 2023 Author

te5msride Aug 16, 2023 Author

heuristicus Aug 16, 2023

te5msride
Aug 16, 2023

Replies: 1 comment 3 replies

heuristicus
Aug 16, 2023

te5msride Aug 16, 2023
Author

te5msride Aug 16, 2023
Author