ROS-Kinetic 错误启动参数“无法编组 None，除非启用 allow_none”
ROS-Kinetic Error launching parameters "cannot marshal None unless allow_none is enabled ”
我的发行版是 ROS kinetic
我正在尝试启动两个节点：pid_controller.py 和 throttle_interpolator.py 但 ROS 一直给我返回错误：
"cannot marshal None unless allow_none
is enabled ”
问题可能与 vesc.yaml 有关，但老实说我不知道了。这一直令人沮丧。
我的 github: https://github.com/renanmb/boat_pid_controller
我遇到的问题只有：
<arg name="vesc_config" default="$(find boat_controller)/config/vesc.yaml" />
<rosparam file="$(arg vesc_config)" command="load" ns="/"/>
并与
<node pkg="boat_controller" type="throttle_interpolator.py" name="throttle_interpolator">
</node>
评论后一切正常。
我的启动文件：
<?xml version="1.0"?>
<launch>
<arg name="vesc_config" default="$(find boat_controller)/config/vesc.yaml" />
<rosparam file="$(arg vesc_config)" command="load" ns="/"/>
<node pkg="boat_controller" type="pid_controller.py" name="pid_controller" output="screen">
<param name="yawKp" value="0.2" type="double"/>
<param name="yawKi" value="0.0" type="double"/>
<param name="yawKd" value="0.0" type="double"/>
<param name="velKp" value="0.7" type="double"/>
<param name="velKi" value="0.3" type="double"/>
<param name="velKd" value="0.0" type="double"/>
<param name="start_engaged" value="true" type="bool"/>
<param name="yaw_cntrl" value="true" type="bool"/>
<param name="vel_cntrl" value="true" type="bool"/>
</node>
<node pkg="boat_controller" type="throttle_interpolator.py" name="throttle_interpolator">
</node>
</launch>
尝试 运行 启动文件后，终端输出如下：
ubuntu-13028.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu:33415/
SUMMARY
========
PARAMETERS
* /commands/motor/speed_left: commands/motor/sp...
* /commands/motor/speed_right: commands/motor/sp...
* /commands/motor/unsmoothed_speed: cmd_drive
* /commands/servo/position: None
* /commands/servo/unsmoothed_position: None
* /max_rpm_acceleration: 100
* /max_servo_speed: 3.2
* /pid_controller/start_engaged: True
* /pid_controller/velKd: 0.0
* /pid_controller/velKi: 0.3
* /pid_controller/velKp: 0.7
* /pid_controller/vel_cntrl: True
* /pid_controller/yawKd: 0.0
* /pid_controller/yawKi: 0.0
* /pid_controller/yawKp: 0.2
* /pid_controller/yaw_cntrl: True
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /rpm_to_erpm_gain: 7
* /servo_smoother_rate: 75.0
* /speed_to_erpm_offset: 0.0
* /steering_angle_to_servo_gain: -1.2135
* /steering_angle_to_servo_offset: 0.5304
* /tachometer_ticks_to_meters_gain: 0.00225
* /throttle_smoother_rate: 100
* /vesc_driver/brake_max: 200000.0
* /vesc_driver/brake_min: -20000.0
* /vesc_driver/current_max: 20.0
* /vesc_driver/current_min: 0.0
* /vesc_driver/duty_cycle_max: 0.0
* /vesc_driver/duty_cycle_min: 0.0
* /vesc_driver/port: /dev/ttyACM0
* /vesc_driver/position_max: 0.0
* /vesc_driver/position_min: 0.0
* /vesc_driver/servo_max: 0.85
* /vesc_driver/servo_min: 0.15
* /vesc_driver/speed_max: 3250
* /vesc_driver/speed_min: -3250
NODES
/
pid_controller (boat_controller/pid_controller.py)
throttle_interpolator (boat_controller/throttle_interpolator.py)
ROS_MASTER_URI=http://localhost:11311
load_parameters: unable to set parameters (last param was [/vesc_driver/position_max=0.0]): cannot marshal None unless allow_none is enabled
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 306, in main
p.start()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 279, in start
self.runner.launch()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 657, in launch
self._setup()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 644, in _setup
self._load_parameters()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 338, in _load_parameters
r = param_server_multi()
File "/usr/lib/python2.7/xmlrpclib.py", line 1006, in __call__
return MultiCallIterator(self.__server.system.multicall(marshalled_list))
File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1596, in __request
allow_none=self.__allow_none)
File "/usr/lib/python2.7/xmlrpclib.py", line 1094, in dumps
data = m.dumps(params)
File "/usr/lib/python2.7/xmlrpclib.py", line 638, in dumps
dump(v, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
f(self, value, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 719, in dump_array
dump(v, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
f(self, value, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 741, in dump_struct
dump(v, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
f(self, value, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 719, in dump_array
dump(v, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
f(self, value, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 664, in dump_nil
raise TypeError, "cannot marshal None unless allow_none is enabled"
TypeError: cannot marshal None unless allow_none is enabled
您需要将参数 unsmoothed_position 和 position 设置为某个值（例如我将它们设置为 0.0）。
您将遇到的下一个错误是由于您将包命名为 boat_pid_controller（文件夹本身）并将启动文件中的所有内容命名为 CMakelists.txt 和 package.xml 取而代之的是 boat_controller：您需要选择一个一致的名称，这样当您 find 一个包时，您可以真正找到它。
我的发行版是 ROS kinetic
我正在尝试启动两个节点：pid_controller.py 和 throttle_interpolator.py 但 ROS 一直给我返回错误：
"cannot marshal None unless allow_none is enabled ”
问题可能与 vesc.yaml 有关，但老实说我不知道了。这一直令人沮丧。
我的 github: https://github.com/renanmb/boat_pid_controller
我遇到的问题只有：
<arg name="vesc_config" default="$(find boat_controller)/config/vesc.yaml" />
<rosparam file="$(arg vesc_config)" command="load" ns="/"/>
并与
<node pkg="boat_controller" type="throttle_interpolator.py" name="throttle_interpolator">
</node>
评论后一切正常。
我的启动文件：
<?xml version="1.0"?>
<launch>
<arg name="vesc_config" default="$(find boat_controller)/config/vesc.yaml" />
<rosparam file="$(arg vesc_config)" command="load" ns="/"/>
<node pkg="boat_controller" type="pid_controller.py" name="pid_controller" output="screen">
<param name="yawKp" value="0.2" type="double"/>
<param name="yawKi" value="0.0" type="double"/>
<param name="yawKd" value="0.0" type="double"/>
<param name="velKp" value="0.7" type="double"/>
<param name="velKi" value="0.3" type="double"/>
<param name="velKd" value="0.0" type="double"/>
<param name="start_engaged" value="true" type="bool"/>
<param name="yaw_cntrl" value="true" type="bool"/>
<param name="vel_cntrl" value="true" type="bool"/>
</node>
<node pkg="boat_controller" type="throttle_interpolator.py" name="throttle_interpolator">
</node>
</launch>
尝试 运行 启动文件后，终端输出如下：
ubuntu-13028.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu:33415/
SUMMARY
========
PARAMETERS
* /commands/motor/speed_left: commands/motor/sp...
* /commands/motor/speed_right: commands/motor/sp...
* /commands/motor/unsmoothed_speed: cmd_drive
* /commands/servo/position: None
* /commands/servo/unsmoothed_position: None
* /max_rpm_acceleration: 100
* /max_servo_speed: 3.2
* /pid_controller/start_engaged: True
* /pid_controller/velKd: 0.0
* /pid_controller/velKi: 0.3
* /pid_controller/velKp: 0.7
* /pid_controller/vel_cntrl: True
* /pid_controller/yawKd: 0.0
* /pid_controller/yawKi: 0.0
* /pid_controller/yawKp: 0.2
* /pid_controller/yaw_cntrl: True
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /rpm_to_erpm_gain: 7
* /servo_smoother_rate: 75.0
* /speed_to_erpm_offset: 0.0
* /steering_angle_to_servo_gain: -1.2135
* /steering_angle_to_servo_offset: 0.5304
* /tachometer_ticks_to_meters_gain: 0.00225
* /throttle_smoother_rate: 100
* /vesc_driver/brake_max: 200000.0
* /vesc_driver/brake_min: -20000.0
* /vesc_driver/current_max: 20.0
* /vesc_driver/current_min: 0.0
* /vesc_driver/duty_cycle_max: 0.0
* /vesc_driver/duty_cycle_min: 0.0
* /vesc_driver/port: /dev/ttyACM0
* /vesc_driver/position_max: 0.0
* /vesc_driver/position_min: 0.0
* /vesc_driver/servo_max: 0.85
* /vesc_driver/servo_min: 0.15
* /vesc_driver/speed_max: 3250
* /vesc_driver/speed_min: -3250
NODES
/
pid_controller (boat_controller/pid_controller.py)
throttle_interpolator (boat_controller/throttle_interpolator.py)
ROS_MASTER_URI=http://localhost:11311
load_parameters: unable to set parameters (last param was [/vesc_driver/position_max=0.0]): cannot marshal None unless allow_none is enabled
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 306, in main
p.start()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 279, in start
self.runner.launch()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 657, in launch
self._setup()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 644, in _setup
self._load_parameters()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 338, in _load_parameters
r = param_server_multi()
File "/usr/lib/python2.7/xmlrpclib.py", line 1006, in __call__
return MultiCallIterator(self.__server.system.multicall(marshalled_list))
File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in __call__
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1596, in __request
allow_none=self.__allow_none)
File "/usr/lib/python2.7/xmlrpclib.py", line 1094, in dumps
data = m.dumps(params)
File "/usr/lib/python2.7/xmlrpclib.py", line 638, in dumps
dump(v, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
f(self, value, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 719, in dump_array
dump(v, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
f(self, value, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 741, in dump_struct
dump(v, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
f(self, value, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 719, in dump_array
dump(v, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
f(self, value, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 664, in dump_nil
raise TypeError, "cannot marshal None unless allow_none is enabled"
TypeError: cannot marshal None unless allow_none is enabled
您需要将参数 unsmoothed_position 和 position 设置为某个值（例如我将它们设置为 0.0）。
您将遇到的下一个错误是由于您将包命名为 boat_pid_controller（文件夹本身）并将启动文件中的所有内容命名为 CMakelists.txt 和 package.xml 取而代之的是 boat_controller：您需要选择一个一致的名称，这样当您 find 一个包时，您可以真正找到它。