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@hello-fazil
Created July 18, 2023 03:11
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[INFO] [1689649677.172976]: /stretch_driver joint_traj action: New trajectory received with joint_names = ['joint_wrist_yaw']
[ERROR] [1689649677.177634]: Exception in your execute callback: signal only works in main thread
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/actionlib/simple_action_server.py", line 289, in executeLoop
self.execute_callback(goal)
File "/home/hello-robot/catkin_ws/src/stretch_ros/stretch_core/nodes/joint_trajectory_server.py", line 119, in execute_cb
c.init_execution(self.node.robot, robot_status)
File "/home/hello-robot/catkin_ws/src/stretch_ros/stretch_core/nodes/command_groups.py", line 122, in init_execution
robot.end_of_arm.move_by('wrist_yaw',
File "/home/hello-robot/repos/stretch_body/body/stretch_body/end_of_arm.py", line 61, in move_by
self.motors[joint].move_by(x_r, v_r, a_r)
File "/home/hello-robot/repos/stretch_body/body/stretch_body/dynamixel_hello_XL430.py", line 538, in move_by
x=self.motor.get_pos()
File "/home/hello-robot/repos/stretch_body/body/stretch_body/dynamixel_XL430.py", line 638, in get_pos
with DelayedKeyboardInterrupt():
File "/home/hello-robot/repos/stretch_body/body/stretch_body/dynamixel_XL430.py", line 111, in __enter__
self.old_handler = signal.signal(signal.SIGINT, self.handler)
File "/usr/lib/python3.8/signal.py", line 47, in signal
handler = _signal.signal(_enum_to_int(signalnum), _enum_to_int(handler))
ValueError: signal only works in main thread
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