ROS知识（10）----smach_viewer的Graph view不能显示状态图

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。

巴特西

ROS知识（10）----smach_viewer的Graph view不能显示状态图

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