1、问题
在运行ROS by Example 2--Indigo版本中，运行 smach_viewer,再运行巡逻，命令如下：
$ rosrun smach_viewer smach_viewer.py
$ rosrun rbx2_tasks patrol_smach.py
出现如下错误：
xception in thread Thread-:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line , in __bootstrap_inner
self.run()
File "/usr/lib/python2.7/threading.py", line , in run
self.__target(*self.__args, **self.__kwargs)
File "/opt/ros/indigo/lib/smach_viewer/smach_viewer.py", line , in _update_graph
self.set_dotcode(dotstr,zoom=False)
File "/opt/ros/indigo/lib/smach_viewer/smach_viewer.py", line , in set_dotcode
if self.widget.set_dotcode(dotcode, None):
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/wxxdot.py", line , in set_dotcode
self.set_xdotcode(xdotcode)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/wxxdot.py", line , in set_xdotcode
self.graph = parser.parse()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line , in parse
DotParser.parse(self)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line , in parse
self.parse_graph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line , in parse_graph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line , in parse_stmt
self.parse_subgraph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line , in parse_subgraph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line , in parse_stmt
self.parse_subgraph()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line , in parse_subgraph
self.parse_stmt()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line , in parse_stmt
self.handle_node(id, attrs)
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line , in handle_node
shapes.extend(parser.parse())
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line , in parse
points = self.read_polygon()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line , in read_polygon
x, y = self.read_point()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line , in read_point
x = self.read_number()
File "/opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py", line , in read_number
return int(self.read_code())
ValueError: invalid literal for int() with base : '402.67'
2、解决方案
将文件的480行的代码：
return int(self.read_code())
改成：
return int(float(self.read_code()))
来解决方案的来源：
1、ROS Indigo :Cannot show Graph View on smach_viewer
出来的效果图：
smach在机器人控制中太重要了，PR2开发中，发现如果不用一套完整的框架去执行任务，会导致代码的维护特别的繁杂，所以大佬们才开发这套smach状态机功能包，既然要用到，就不要走弯路了，最近试了几个任务的执行，深切体会，知道碰壁不如早点用起来它吧。