Robot stuck by reconfigure error

[Jailander]

We are having constant problems with the DWAPlanner reconfigure service not sure why or what is happening anyone has an idea of why?

I created a gist with the output on the robot which is here: https://gist.github.com/Jailander/d2e6d13784da794fe77900ba3b92a4f2

a short version is this:

[ERROR] [WallTime: 1479809803.090947] Exception in your execute callback: 'NoneType' object has no attribute 'tell'
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 291, in executeLoop
    self.execute_callback(goal)
  File "/home/strands/aaf_ws/src/strands_hri/strands_human_aware_navigation/scripts/human_aware_navigation.py", line 191, in g
oalCallback
    self.resetSpeed()
  File "/home/strands/aaf_ws/src/strands_hri/strands_human_aware_navigation/scripts/human_aware_navigation.py", line 114, in r
esetSpeed
    self.client.update_configuration(self.fast_param)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/client.py", line 219, in update_configuration
    msg    = self._set_service(config).config
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 512, in call
    transport.send_message(request, self.seq)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 634, in send_message
    serialize_message(self.write_buff, seq, msg)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/msg.py", line 139, in serialize_message
    start = b.tell()
AttributeError: 'NoneType' object has no attribute 'tell'

[Jailander]

the DWAPlanner parameters were these:

dictitems:
  acc_lim_theta: 3.14
  acc_lim_x: 0.8
  acc_lim_y: 0.0
  acc_limit_trans: 0.8
  angular_sim_granularity: 0.1
  forward_point_distance: 0.0
  goal_distance_bias: 24.0
  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
    dictitems:
      acc_lim_theta: 3.14
      acc_lim_x: 0.8
      acc_lim_y: 0.0
      acc_limit_trans: 0.8
      angular_sim_granularity: 0.1
      forward_point_distance: 0.0
      goal_distance_bias: 24.0
      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
        state: []
      id: 0
      max_rot_vel: 1.0
      max_scaling_factor: 0.2
      max_trans_vel: 0.55
      max_vel_x: 0.55
      max_vel_y: 0.0
      min_rot_vel: 0.4
      min_trans_vel: 0.05
      min_vel_x: 0.0
      min_vel_y: 0.0
      name: Default
      occdist_scale: 0.01
      oscillation_reset_angle: 0.2
      oscillation_reset_dist: 0.05
      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
        state: []
      parent: 0
      path_distance_bias: 32.0
      prune_plan: true
      restore_defaults: false
      rot_stopped_vel: 0.01
      scaling_speed: 0.25
      sim_granularity: 0.025
      sim_time: 1.7
      state: true
      stop_time_buffer: 0.2
      trans_stopped_vel: 0.01
      type: ''
      use_dwa: true
      vth_samples: 20
      vx_samples: 10
      vy_samples: 1
      xy_goal_tolerance: 0.1
      yaw_goal_tolerance: 0.1
    state: []
  max_rot_vel: 1.0
  max_scaling_factor: 0.2
  max_trans_vel: 0.55
  max_vel_x: 0.55
  max_vel_y: 0.0
  min_rot_vel: 0.4
  min_trans_vel: 0.05
  min_vel_x: 0.0
  min_vel_y: 0.0
  occdist_scale: 0.01
  oscillation_reset_angle: 0.2
  oscillation_reset_dist: 0.05
  path_distance_bias: 32.0
  prune_plan: true
  restore_defaults: false
  rot_stopped_vel: 0.01
  scaling_speed: 0.25
  sim_granularity: 0.025
  sim_time: 1.7
  stop_time_buffer: 0.2
  trans_stopped_vel: 0.01
  use_dwa: true
  vth_samples: 20
  vx_samples: 10
  vy_samples: 1
  xy_goal_tolerance: 0.1
  yaw_goal_tolerance: 0.1
state: []

and the human_aware_navigation/DWAPlannerParameters are:

dictitems:
  acc_lim_theta: 3.14
  acc_lim_x: 0.8
  acc_lim_y: 0.0
  acc_limit_trans: 0.8
  angular_sim_granularity: 0.1
  forward_point_distance: 0.0
  goal_distance_bias: 24.0
  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
    dictitems:
      acc_lim_theta: 3.14
      acc_lim_x: 0.8
      acc_lim_y: 0.0
      acc_limit_trans: 0.8
      angular_sim_granularity: 0.1
      forward_point_distance: 0.0
      goal_distance_bias: 24.0
      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
        state: []
      id: 0
      max_rot_vel: 1.0
      max_scaling_factor: 0.2
      max_trans_vel: 0.55
      max_vel_x: 0.55
      max_vel_y: 0.0
      min_rot_vel: 0.4
      min_trans_vel: 0.05
      min_vel_x: 0.0
      min_vel_y: 0.0
      name: Default
      occdist_scale: 0.01
      oscillation_reset_angle: 0.2
      oscillation_reset_dist: 0.05
      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
        state: []
      parent: 0
      path_distance_bias: 32.0
      prune_plan: true
      restore_defaults: false
      rot_stopped_vel: 0.01
      scaling_speed: 0.25
      sim_granularity: 0.025
      sim_time: 1.7
      state: true
      stop_time_buffer: 0.2
      trans_stopped_vel: 0.01
      type: ''
      use_dwa: true
      vth_samples: 20
      vx_samples: 10
      vy_samples: 1
      xy_goal_tolerance: 0.1
      yaw_goal_tolerance: 0.1
    state: []
  max_rot_vel: 1.0
  max_scaling_factor: 0.2
  max_trans_vel: 0.55
  max_vel_x: 0.55
  max_vel_y: 0.0
  min_rot_vel: 0.4
  min_trans_vel: 0.05
  min_vel_x: 0.0
  min_vel_y: 0.0
  occdist_scale: 0.01
  oscillation_reset_angle: 0.2
  oscillation_reset_dist: 0.05
  path_distance_bias: 32.0
  prune_plan: true
  restore_defaults: false
  rot_stopped_vel: 0.01
  scaling_speed: 0.25
  sim_granularity: 0.025
  sim_time: 1.7
  stop_time_buffer: 0.2
  trans_stopped_vel: 0.01
  use_dwa: true
  vth_samples: 20
  vx_samples: 10
  vy_samples: 1
  xy_goal_tolerance: 0.1
  yaw_goal_tolerance: 0.1
state: []

Calling usual move_base geniuses @cdondrup , @bfalacerda , @nilsbore have you seen this?

[cdondrup]

There are two things you could try:

1. Set the roslog level to debug so it prints what it actually sends
2. The self.fast_param is set in the dynamic reconfigure callback of that script. Even though this should always be called when the script is started, it might be worth setting it in the init as well to some hard coded values just to make sure that it isn't actually None. But the roslog debug level print outs should tell us what it is trying to send.