| message | InvalidSubmission:
T [...]InvalidSubmission:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/dist-packages/dt_protocols/checker.py", line 102, in run_checker
msg = agent_ci.write_topic_and_expect("query", q, expect="response")
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 145, in write_topic_and_expect
ob: MsgReceived = self.read_one(expect_topic=expect, timeout=timeout, profiler=profiler)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 243, in read_one
msgs = read_reply(self.fpout, timeout=timeout, waiting_for=waiting_for, nickname=self.nickname,
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
others = read_until_over(fpout, timeout=timeout, nickname=nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, in read_until_over
raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "checker" aborted:
error in checker |Exception while handling a message on topic "query".
|
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
|| f(**kwargs)
|| File "/code/catkin_ws/src/collision-detection/packages/collision_checker/collision_checker.py", line 31, in on_received_query
|| collided = check_collision(
|| File "/code/catkin_ws/src/collision-detection/packages/collision_checker/collision_checker.py", line 52, in check_collision
|| collided = check_collision_list(rototranslated_robot, environment)
|| File "/code/catkin_ws/src/collision-detection/packages/collision_checker/collision_checker.py", line 64, in check_collision_list
|| if check_collision_shape(robot, envObject):
|| File "/code/catkin_ws/src/collision-detection/packages/collision_checker/collision_checker.py", line 85, in check_collision_shape
|| return rectangle_rectangle_collision(a, b)
|| File "/code/catkin_ws/src/collision-detection/packages/collision_checker/collision_checker.py", line 197, in rectangle_rectangle_collision
|| intersection = line_intersection(p1, p2, q1, q2)
|| File "/code/catkin_ws/src/collision-detection/packages/collision_checker/collision_checker.py", line 182, in line_intersection
|| y = m2(x - c1) + c2
|| TypeError: 'float' object is not callable
||
|| The above exception was the direct cause of the following exception:
||
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 418, in loop
|| handle_message_node(parsed, receiver0, context0)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 591, in handle_message_node
|| call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 24, in call_if_fun_exists
|| raise ZTypeError(msg, f=f, args=kwargs, argspec=a) from e
|| zuper_commons.types.exceptions.ZTypeError: Cannot call function <bound method CollisionChecker.on_received_query of <collision_checker.collision_checker.CollisionChecker object at 0x7f4104d15fd0>>.
|| │ f: <bound method CollisionChecker.on_received_query of <collision_checker.collision_checker.CollisionChecker object at 0x7f4104d15fd0>>
|| │ args: dict[2]
|| │ │ data:
|| │ │ CollisionCheckQuery
|| │ │ │ pose:
|| │ │ │ FriendlyPose
|| │ │ │ │ x: 0.595569815934045
|| │ │ │ │ y: 1.969904716932111
|| │ │ │ │ theta_deg: 304.18372957353085
|| │ │ context: <zuper_nodes_wrapper.wrapper.ConcreteContext object at 0x7f4104c90070>
|| │ argspec: <class 'inspect.FullArgSpec'>[7]
|| │ #0 [self, context, data]
|| │ #1 None
|| │ #2 None
|| │ #3 None
|| │ #4 []
|| │ #5 None
|| │ #6 {context: <class 'zuper_nodes_wrapper.interface.Context'>, data: CollisionCheckQuery}
||
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges/cie_concrete.py", line 691, in scoring_context
yield cie
File "/usr/local/lib/python3.8/dist-packages/dt_collision/collision_checker.py", line 107, in collision_checker_main
sessions = run_checker(
File "/usr/local/lib/python3.8/dist-packages/dt_protocols/checker.py", line 115, in run_checker
raise dc.InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: The remote node has violated protocol
|