dvrk_xr_ros_bridge.py

[fanke1213812138]

When I ran the dvrk_xr_ros_bridge.py, I got this error.
Thank you very much!
[ERROR] [1630682447.687229]: bad callback: <bound method Subscriber.callback of <message_filters.Subscriber object at 0x7fe0027ad990>>
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 "/opt/ros/melodic/lib/python2.7/dist-packages/message_filters/init.py", line 76, in callback
self.signalMessage(msg)
File "/opt/ros/melodic/lib/python2.7/dist-packages/message_filters/init.py", line 58, in signalMessage
cb(*(msg + args))
File "/opt/ros/melodic/lib/python2.7/dist-packages/message_filters/init.py", line 302, in add
self.signalMessage(msgs)
File "/opt/ros/melodic/lib/python2.7/dist-packages/message_filters/init.py", line 58, in signalMessage
cb((msg + args))
File "./dvrk_xr_ros_bridge.py", line 126, in callback
jaw_string_msg = extract_jaw_data(jaw_raw)
File "./dvrk_xr_ros_bridge.py", line 92, in extract_jaw_data
name_json = """ + name_data[0][1] + """
File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 390, in getitem
return self.__toklist[i]
IndexError: list index out of range

[adeguet1]

Please provide a bit more information. Which version of the dVRK code are you using? It seems dvrk_xr_ros_bridge.py is getting an ampty message for the jaw angle. Maybe this code needs to be ported for dVRK 2.x and/or the dVRK ROS node is not running? On Sep 3, 2021, at 11:24, fanke1213812138 ***@***.******@***.***>> wrote: When I ran the dvrk_xr_ros_bridge.py, I got this error. Thank you very much! [ERROR] [1630682447.687229]: bad callback: <bound method Subscriber.callback of <message_filters.Subscriber object at 0x7fe0027ad990>> 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 "/opt/ros/melodic/lib/python2.7/dist-packages/message_filters/init.py", line 76, in callback self.signalMessage(msg) File "/opt/ros/melodic/lib/python2.7/dist-packages/message_filters/init.py", line 58, in signalMessage cb(*(msg + args)) File "/opt/ros/melodic/lib/python2.7/dist-packages/message_filters/init.py", line 302, in add self.signalMessage(msgs) File "/opt/ros/melodic/lib/python2.7/dist-packages/message_filters/init.py", line 58, in signalMessage cb((msg + args)) File "./dvrk_xr_ros_bridge.py", line 126, in callback jaw_string_msg = extract_jaw_data(jaw_raw) File "./dvrk_xr_ros_bridge.py", line 92, in extract_jaw_data name_json = """ + name_data[0][1] + """ File "/usr/lib/python2.7/dist-packages/pyparsing.py", line 390, in getitem return self.__toklist[i] IndexError: list index out of range — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub<https://nam02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fjhu-dvrk%2Fdvrk-xr%2Fissues%2F2&data=04%7C01%7Canton.deguet%40jhu.edu%7C8d24af8e06f74749947f08d96eeefde5%7C9fa4f438b1e6473b803f86f8aedf0dec%7C0%7C0%7C637662795006593831%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C1000&sdata=5sRGcd2t71u549PvDUpXE%2BJWLNysv2iR9xiXb8prtDQ%3D&reserved=0>, or unsubscribe<https://nam02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAAIRP4ZWSETY2USGNYAESHDUADSETANCNFSM5DL7HQJA&data=04%7C01%7Canton.deguet%40jhu.edu%7C8d24af8e06f74749947f08d96eeefde5%7C9fa4f438b1e6473b803f86f8aedf0dec%7C0%7C0%7C637662795006603796%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C1000&sdata=fWrLr0qY1b%2B6%2B0IBR3B2Z5X7PSvaZUnZehEHjK4R1y4%3D&reserved=0>.

[fanke1213812138]

Thank you very much for your reply.

The version is 1.7. Maybe it's a problem. The ROS node is running. May I ask if the message of /dvrk/PSM1/state_joint_current topic can be directly used in simulations like Uniy 3D or Gazebo? Do I need any conversion?

[adeguet1]

I must admit I never really looked at the dvrk-xr code but I’ll do my best to help. Can you run `rostopic echo /dvrk/PSM1/state_joint_current` to see it the dVRK console is publishing useful values? On Sep 3, 2021, at 12:40, fanke1213812138 ***@***.******@***.***>> wrote: Thank you very much for your reply. The version is 1.7. Maybe it's a problem. The ROS node is running. May I ask if the message of /dvrk/PSM1/state_joint_current topic can be directly used in simulations like Uniy 3D or Gazebo? Do I need any conversion? — You are receiving this because you commented. Reply to this email directly, view it on GitHub<https://nam02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fjhu-dvrk%2Fdvrk-xr%2Fissues%2F2%23issuecomment-912669876&data=04%7C01%7Canton.deguet%40jhu.edu%7Cb8f603d1824e447d79c708d96ef99658%7C9fa4f438b1e6473b803f86f8aedf0dec%7C0%7C0%7C637662840514290689%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C1000&sdata=g4NlnsFh1hq72sv9QMI0Gb8uInGBh8o8Tv%2FB24HvdEY%3D&reserved=0>, or unsubscribe<https://nam02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fnotifications%2Funsubscribe-auth%2FAAIRP4ZRTWEKZPKKAKS4WTTUAD3BBANCNFSM5DL7HQJA&data=04%7C01%7Canton.deguet%40jhu.edu%7Cb8f603d1824e447d79c708d96ef99658%7C9fa4f438b1e6473b803f86f8aedf0dec%7C0%7C0%7C637662840514300644%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C1000&sdata=zzMdIGtFikspKcvC6fC3VmDwenmh0c3wfx%2FPUctEjUs%3D&reserved=0>.

[fanke1213812138]

Yes, the topic is publishing useful Jointstate information with 6 values of position etc. So can I use that in other simulations directly? But all the joints move in a wrong way. I used ROS-SHARP by siemens, with a joint_state_subscriber and jont_state_writers. Or could you give me a hint to simulate dVRK in some platforms? Anything would be appreciated. Than you very much for your help!