Submission 25622

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/planning/packages/planning/planner.py", line 1688, in on_received_query
                 ||     self.use_rrt(context, data)
                 ||   File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 1430, in use_rrt
                 ||     M.remove_node('goal', p=goal)
                 || TypeError: remove_node() got an unexpected keyword argument 'p'
                 ||
                 || 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 Planner.on_received_query of <planning.planner.Planner object at 0x40a328ff70>>.
                 || │       f: <bound method Planner.on_received_query of <planning.planner.Planner object at 0x40a328ff70>>
                 || │    args: dict[2]
                 || │          │ data:
                 || │          │ PlanningQuery
                 || │          │ │ start:
                 || │          │ │ FriendlyPose
                 || │          │ │ │ x: 2.8460100881921764
                 || │          │ │ │ y: 2.8638803737314387
                 || │          │ │ │ theta_deg: 307.84303822620615
                 || │          │ │ target:
                 || │          │ │ FriendlyPose
                 || │          │ │ │ x: 0.40400100242453774
                 || │          │ │ │ y: 0.7034372664115912
                 || │          │ │ │ theta_deg: 270.95759126642656
                 || │          │ context: <zuper_nodes_wrapper.wrapper.ConcreteContext object at 0x40a32a14f0>
                 || │ 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: PlanningQuery}
                 ||

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_planning/planning_checker.py", line 102, in planning_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