I ran the below code using rosrun command as a node but not running in a circle anymore. But there's no error in this function.
How to solve this and ran in a circle and stop in initial position?
ROS : Melodic
Ubuntu 18.04
#!/usr/bin/env python
import rospy
import rospkg
from geometry_msgs.msg import Twist
from turtlesim.msg import Pose
#defining variables
x = 0
y = 0
theta = 0.0
#main function
def pose_callback(msg):
global x, y, psi
x = msg.x
y = msg.y
psi = msg.theta
print(msg.theta)
if __name__=="__main__":
rospy.init_node('node_turtle_revolve', anonymous = True)
r = rospy.Rate(10)
velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
while not rospy.is_shutdown():
sub = rospy.Subscriber('/turtle1/pose', Pose, pose_callback)
vel_msg = Twist()
vel_msg.linear.x = 0.2
vel_msg.linear.x = 0.0
vel_msg.linear.x = 0.0
vel_msg.angular.x= 0.0
vel_msg.angular.y= 0.0
vel_msg.angular.z= 0.1
velocity_publisher.publish(vel_msg)
r.sleep
You should change msg as pose
def pose_callback(pose):
global x, y, psi
x = pose.x
y = pose.y
psi = msg.theta
print(msg.theta)
And you should write a if statement
SyntaxError: invalid syntax
I have a syntax error, but i could not solve it, need help
error: for k, g in groupby(enumerate(ranges), lambda (i,x):i-x):
Also, 1 question if anyone is able to help me
i am using Ubuntu 18.04, i rosrun this file but got [rosrun] Couldn't find executable named sensor_data_listerner.py below /home/sk/catkin_ws/src/testbot_description
is it because of the ROS python version i am using that caused the error?
the following is the code:
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
import sensor_msgs.msg
import random
import numpy as np
from geometry_msgs.msg import Twist
from itertools import *
from operator import itemgetter
LINX = 0.0 #Always forward linear velocity.
THRESHOLD = 1.5 #THRESHOLD value for laser scan.
PI = 3.14
Kp = 0.05
angz = 0
def LaserScanProcess(data):
range_angels = np.arange(len(data.ranges))
ranges = np.array(data.ranges)
range_mask = (ranges > THRESHOLD)
ranges = list(range_angels[range_mask])
max_gap = 40
# print(ranges)
gap_list = []
for k, g in groupby(enumerate(ranges), lambda (i,x):i-x):
gap_list.append(map(itemgetter(1), g))
gap_list.sort(key=len)
largest_gap = gap_list[-1]
min_angle, max_angle = largest_gap[0]*((data.angle_increment)*180/PI), largest_gap[-1]*((data.angle_increment)*180/PI)
average_gap = (max_angle - min_angle)/2
turn_angle = min_angle + average_gap
print(min_angle, max_angle)
print(max_gap,average_gap,turn_angle)
global LINX
global angz
if average_gap < max_gap:
angz = -0.5
else:
LINX = 0.5
angz = Kp*(-1)*(90 - turn_angle)
def main():
rospy.init_node('listener', anonymous=True)
pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
rospy.Subscriber("scan", sensor_msgs.msg.LaserScan , LaserScanProcess)
rate = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
command = Twist()
command.linear.x = LINX
command.angular.z = angz
pub.publish(command)
rate.sleep()
if __name__ == '__main__':
main()
You can't unpack a tuple in the argument list of a lambda expression (or of a def statement) in Python 3. (That's a change from Python 2, where your lambda expression would have been valid.)
You'll have to use
lambda t: t[0] - t[1]
instead.
I have created a PyQt5 GUI in my main.py file which is in a main app folder. In the file for the interface, a button initiates a new class called Calculation (in the file entry.py) passing in the values of several inputs on the page and in this class the startCalculation() method is called. In this method, the different variables are passed to methods in imported python files, then the result of those calculation is returned and passed to the next calculation in another python file. These returns are in the form of arrays containing values (for the y axis which is then displayed using numpy and plotly).
When I run the app and click on the button in the main interface, the app starts loading (rainbow animation on Mac) and it says it is not responding. It is not a problem with the class itself as a normal print test works in the startCalculation() method, but the function from the imported file causes this to happen. Also, no errors are given in the terminal.
The following is code in the PyQt interface file (main.py)
from app import entry
def startButton(self):
massaTotale = float(self.lineEdit.text())
dragCoefficient = float(self.lineEdit_5.text())
liftCoefficient = float(self.lineEdit_6.text())
powerAvionics = float(self.lineEdit_3.text())
powerPayload = float(self.lineEdit_4.text())
airSpeed = float(self.lineEdit_8.text())
valoreUnico = float(self.valoreUnicoEdit.text())
engineEfficiency = float(self.lineEdit_9.text())
turbolenceCoeff = float(self.lineEdit_10.text())
dayOfYear = float(self.day_LineEdit.text())
latitude = float(self.latitude_LineEdit.text())
sunsetHourAngle = float(self.sunsetHourAngle_LineEdit.text())
declination = float(self.declination_LineEdit.text())
newCaluclation = entry.Calculation(massaTotale, dragCoefficient, liftCoefficient, powerAvionics, powerPayload, airSpeed, valoreUnico, engineEfficiency, turbolenceCoeff, dayOfYear, latitude, sunsetHourAngle, declination)
newCaluclation.startCalculation()
And this is the code in the class calling the function in the external file
from app.mainFunctions import pLevel
#constructor method
def __init__(self, massaTotale, dragCoefficient, liftCoefficient, powerAvionics, powerPayload, airSpeed, valoreUnico, efficiencyEngine, turbolenceCoeff, dayOfYear, latitude, sunsetHourAngle, declination):
# calculate plevel
self.totM = massaTotale
self.vair = airSpeed
self.cl = liftCoefficient
self.cd = dragCoefficient
self.efficiencyEngine = efficiencyEngine
self.valoreUnico = valoreUnico
self.powerAvionics = powerAvionics
self.powerPayload = powerPayload
self.turbolenceCoeff = turbolenceCoeff
self.day_of_year = dayOfYear
self.latitude = latitude
self.sunset_hour_angle = sunsetHourAngle
self.declination = declination
#starting the calculation
def startCalculation(self):
self.x_values, self.pLevel_values = pLevel.calculate_pLevel(self.valoreUnico, self.cd, self.cl, self.totM)
'''
self.pEngine_values = pEngine.calculate_pEngine(self.x_values, self.pLevel_values, self.efficiencyEngine, self.turbolenceCoeff)
self.pOut_values = pOut.calculate_pOut(self.x_values, self.pEngine_values, self.powerAvionics, self.powerPayload)
self.I_loctime = I_loctime.calculate_I_loctime(self.day_of_year, self.latitude, self.sunset_hour_angle, self.declination)
self.asm_values = area_Solar_Module.calculate_asm(self.x_values, self.pOut_values, self.I_loctime)
'''
The pLevel.py file has the following code in it and should return the array of values to pass to the second function in the entry Calculation class file.
import math
import numpy as np
import plotly as py
import plotly.graph_objs as go
import ipywidgets as widgets
import plotly.io as pio
import sys
sys.dont_write_bytecode = True
py.offline.init_notebook_mode(connected=True)
pio.renderers.default = "browser"
# calculating pLevel
x_values = []
y_values = []
layoutPLevel = go.Layout(
title="pLevel",
yaxis=dict(
title='pLevel'
),
xaxis=dict(
title='Surface Area Wing'
)
)
def calculate_pLevel(valoreUnico, cd, cl, totM):
x_values = []
count = 0
while (count < 5):
x_values.append(count)
count = count + 0.01
y_values = []
iteration = 0
while (iteration < len(x_values)):
x_value = x_values[iteration]
if (x_value == 0):
y_value = 0
y_values.append(y_value)
else:
if (valoreUnico == 0.0):
# nessun dato per valoreUnico dato, utilizza i due valori separati
y_value = firstPart(cd, cl) * math.sqrt(secondPart(x_value, totM))
y_values.append(y_value)
else:
y_value = valoreUnico * \
math.sqrt(secondPart(x_value, totM))
y_values.append(y_value)
iteration = iteration + 1
else:
yNpArray = np.array(y_values)
xNpArray = np.array(x_values)
tracePLevel = go.Scatter(
x=xNpArray,
y=yNpArray,
mode='lines',
name='pLevel',
line=dict(
shape='spline'
)
)
figPLevel = go.Figure(data=[tracePLevel], layout=layoutPLevel)
figPLevel.show()
return x_values, y_values
def firstPart(cd, cl):
return (cd / cl**(3/2))
def secondPart(x_value, totM):
return (2*(totM * 9.81)**3) / (1.225 * x_value)
The structure of the files is as follows:
-app
-- __main__.py
-- entry.py
-- __init__.py
-- mainFunctions
--- pLevel.py
--- __init__.py
The loop for the x_values in the pLevel function was not adding one to the iteration so the loop went on forever. I just did not notice my error.
Instead of being
while (iteration < len(x_values)):
x_value = x_values[iteration]
if (x_value == 0):
y_value = 0
y_values.append(y_value)
It should be
while (iteration < len(x_values)):
x_value = x_values[iteration]
if (x_value == 0):
y_value = 0
y_values.append(y_value)
iteration = iteration+1
I am trying to use aubio and python for a school project, here's the goal : detect when someone emit two sounds, each with a length of 2s, and with an interval between them of max 3s. The second one need to be higher than the first one. When these conditions are met, the program send a Wake-On-Lan package (not implemented in current code).
import alsaaudio
import numpy as np
import aubio
import time
import threading
class Audio_watcher:
# constants
samplerate = 44100
win_s = 2048
hop_s = win_s // 2
framesize = hop_s
nb_samples = 20
tone_duration = 2.0
per_sampling = tone_duration / nb_samples
tone_max_interval = 3.0
tone_diff_ratio = 2
def __init__(self):
self.last_frequencies = np.zeros(Audio_watcher.nb_samples)
self.last_energies = np.zeros(Audio_watcher.nb_samples)
self.detected_tone = 0
# set up audio input
recorder = alsaaudio.PCM(type=alsaaudio.PCM_CAPTURE)
recorder.setperiodsize(Audio_watcher.framesize)
recorder.setrate(Audio_watcher.samplerate)
recorder.setformat(alsaaudio.PCM_FORMAT_FLOAT_LE)
recorder.setchannels(1)
self.recorder = recorder
pitcher = aubio.pitch("default", Audio_watcher.win_s, Audio_watcher.hop_s, Audio_watcher.samplerate)
pitcher.set_unit("Hz")
pitcher.set_silence(-40)
self.pitcher = pitcher
# A filter
f = aubio.digital_filter(7)
f.set_a_weighting(Audio_watcher.samplerate)
self.f = f
def get_audio(self):
# read and convert data from audio input
_, data = self.recorder.read()
samples = np.fromstring(data, dtype=aubio.float_type)
filtered_samples = self.f(samples)
print(filtered_samples)
# pitch and energy of current frame
freq = self.pitcher(filtered_samples)[0]
print(freq)
self.last_frequencies = np.roll(self.last_frequencies, 1)
self.last_frequencies[0] = freq
self.last_energies = np.roll(self.last_energies, 1)
self.last_energies[0] = np.sum(filtered_samples**2)/len(filtered_samples)
threading.Timer(Audio_watcher.per_sampling, self.get_audio).start()
def reset_detected_tone():
self.detected_tone = 0
def detect_tone(self):
std_last = np.std(self.last_frequencies)
if std_last <= 200 and std_last > 0:
mean_freq = np.mean(self.last_frequencies)
if self.detected_tone == 0:
self.detected_tone = mean_freq
threading.Timer(Audio_watcher.tone_max_interval, self.reset_detected_tone).start()
elif mean_freq > Audio_watcher.tone_diff_ratio * self.detected_tone:
print('wol')
threading.Timer(Audio_watcher.tone_duration, self.detect_tone).start()
aw = Audio_watcher()
aw.get_audio()
aw.detect_tone()
However with this code I get a great delay between the sounds and their detection, I think it has to do with the recorder being called only one time every 0.1s, but I can't find how to give correct parameters to aubio.
Does anyone knows how to configure the constants so it works ?
Thanks a lot !
Found out what was causing this error, I needed to put the code that sets up the audio input in the get_audio function so it renewed everytime
I have written code within Python that doesn't release memory the way it should. The memory is taken by Python but never gets released even after not being used anymore. Even if you break the running program with ctrl+c. Delete the variable and run gc.collect() it doesn't seem to collect. Or the same as in Ipython and running %reset. The memory won't be freed and running gc.collect() has no effect. I tested this in Windows because I wanted to see if it could possibly be with the garbage collector library. It appears that is the case. Run the code below in Linux and then also in windows. Then compare the memory usage. You will need numpy and scipy installed. Any help or insight on this issue would be much appreciated.
Import the Model, create an instance, and then run createSpecific().
Here is a code that exhibits this behavior in Ubuntu 10.04:
from numpy import array, maximum,intersect1d, meshgrid, std, log, log10, zeros, ones, argwhere, abs, arange, size, copy, sqrt, sin, cos, pi, vstack, hstack, zeros, exp, max, mean, savetxt, loadtxt, minimum, linspace, where
from numpy.fft import fft
from scipy.stats import f_oneway, kruskal, sem, scoreatpercentile
#import matplotlib
#matplotlib.use('cairo.pdf')
from matplotlib.pyplot import plot, clf, show, cla, xlim, xscale, imshow, ylabel, xlabel, figure, savefig, close, bar, title, xticks, yticks, axes, axis
from matplotlib.axes import Axes
from mpl_toolkits.mplot3d import Axes3D
#from enthought.mayavi import mlab
from matplotlib import cm
import matplotlib.pyplot as plt
import os
from time import clock
from timeit import Timer
class Model:
#Constructors and default includes
def __init__(self, prevAud = None, debug=False):
if (prevAud == None):
self.fs=16000. #sample rate
self.lowFreq=60.
self.hiFreq=5000.
self.numFilt=300 #number of channel
self.EarQ = 9.26449 #9.26449
self.minBW = 24.7 #24.7
self.integrationWindow=.01
self.sliceAt=.035
self.maxOverallInhibit = 0.1
self.winLen = int(self.fs*self.integrationWindow+.01) #default integration window 10 ms
self.fullWind = 0.300
self.outShortWindow = None
self.siderArray = None
self.maxNormalizeValue = .284 # Optimized at .284
self.outputSemiModel = None
self.semitones = 11
self.activationTrace = None
return
def setErbScale(self, erbScale = None):
if (erbScale ==None):
self.erbScale = arange(100,500,5)
else:
self.erbScale = erbScale
def trainModel(self,soundVec=None, fs=None, lowfreq=None, highfreq=None, numfilt=None, figto=0, savefig = 'N', prompts=False, plotter=False):
self.setErbScale()
templateArray = self.intWindow(self.halfWaveRec(self.creGammatone(soundVec)))
for i in xrange(templateArray[0].size):
self.outerTest(self.innerTest(templateArray[:,i]))
return templateArray
def createSpecific(self, freqArray = None, semitones = 11, timeforHarm = .3, soundVec=None, fs=None, lowfreq=None, highfreq=None, numfilt=None, figto=0, saveData='N', fileDir='TempRunT/', prompts=False, plotter=False):
if (freqArray == None):
self.setErbScale()
freqArray = self.erbScale
if (type(semitones) == int):
semitones = arange(semitones+1)
totalRuns = int(timeforHarm/self.integrationWindow+.001)
inhibitWindowArray = zeros((freqArray.size,(semitones.size),self.numFilt,totalRuns))
for x in xrange(freqArray.size):
tempHarm = self.makeHarmonicAmpMod(freqArray[x],timeforHarm, numHarm=7,modulation=10)
for y in semitones:
tempChord = self.makeSemiChordAmpMod(tempHarm, freqArray[x],timeforHarm,modulation=10,numHarm=7,semi=y)
inhibitWindowArray[x,y] = self.trainModel( tempChord, savefig = 'N', plotter=plotter)
self.inhibitWindowArray = inhibitWindowArray
def creGammatone(self, soundVec):
temp = zeros((300,soundVec.size))
for i in xrange(temp[:,0].size):
temp[i] = -1**i*soundVec
return temp
def halfWaveRec(self, halfWaveFilts):
filtShape = halfWaveFilts.shape
if (filtShape[1] != int(self.fs*self.fullWind)):
halfWaveFilts = hstack((halfWaveFilts,zeros((self.numFilt,int(self.fs*self.fullWind)-filtShape[1]))))
temp = zeros((halfWaveFilts[:,0].size,halfWaveFilts[0].size))
halfWaveFilts = maximum(halfWaveFilts,temp)
del temp
return halfWaveFilts
def intWindow(self, integratedFilts):
winlen = self.winLen
length = integratedFilts[0].size/winlen
mod = integratedFilts[0].size%winlen
outShortWindow = zeros((integratedFilts[:,0].size,length))
meanval = 0
if (mod != 0):
for i in xrange(integratedFilts[:,0].size):
mean(integratedFilts[i,0:-mod].reshape(length,winlen),1,out=outShortWindow[i])
else:
for i in xrange(integratedFilts[:,0].size):
mean(integratedFilts[i].reshape(length,winlen),1,out=outShortWindow[i])
del integratedFilts
return outShortWindow
def innerTest(self, window):
temper = copy(window)
sider = 7
st = .04
sizer = temper.size
inhibVal = 0
for j in xrange(sider):
inhibVal = (temper[0:j+sider+1].sum())*(sider*2+1)/(sider+1+j)
window[j] += - st*(inhibVal)
for j in xrange(sider,sizer - sider):
inhibVal = temper[j-sider:j+sider+1].sum()
window[j] += - st*(inhibVal)
for j in xrange(sizer-sider, sizer):
inhibVal = (temper[j-sider:sizer].sum())*(sider*2+1)/(sider+sizer-j)
window[j] += - st*(inhibVal)
maxsub = max(window) * self.maxOverallInhibit
window += - maxsub
del temper
return window
def outerTest(self, window):
newSatValue = scoreatpercentile(window, (76))
numones = where(window > newSatValue)
window[numones]=1
self.maxSatValue = newSatValue
del numones
return window
def makeHarmonicAmpMod(self, freq = 100, time = 1.,modulation=10, fsamp=None, numHarm=7):
if fsamp == None: fsamp = self.fs
samples = arange(time*fsamp)
signal = 0
for x in xrange(1,(numHarm+1),1):
signal = signal + sin(samples/float(fsamp)*x*freq*2*pi)
signal = (signal)*maximum(zeros(time*fsamp),sin((samples/float(fsamp)*modulation*2*pi)))
return signal
def makeSemiChordAmpMod(self, harmVec = None, freq=100, time = 1., modulation=10, fsamp=None, numHarm=7, semi = 2):
if (harmVec == None): harmVec = self.makeHarmonicAmpMod(freq,time,modulation,fsamp,numHarm)
if (semi == 0): return harmVec
return harmVec + self.makeHarmonicAmpMod(freq*(2**(semi/12.)),time,modulation,fsamp,numHarm)
Virtual memory is not a scarce resource. There is no need to return it to the system since each process has its own address space. What is your actual problem? What issue is this behavior causing you?
I had installed the latest svn of numpy and the issue had vanished. I assume it was inside one of the numpy functions. I never got a chance to dig further into it.