Release request for fixing Python3 issues

[mqcmd196]

We need the patches

• [smach_viewer] fix python3 bytes control #53
• Fix pickle loads python version #55

to work this package in Python3. Please release if you have time.

[k-okada]

Thanks. I wish you're using noeitc/20.04. If this is true, could you check if we can merge #58 ?

[mqcmd196]

@k-okada

I've tested #58 patch. And while testing, I've found serious issues.

The 4.1.0 (current release) works with the Python3 client but not the Eus client. The melodic-devel works with the Eus client but not the Python3 client.

Let me share test script

[mqcmd196]

EusLisp example test-smach.l

#!/usr/bin/env roseus

(load "package://roseus_smach/src/state-machine-ros.l")
(load "package://roseus_smach/src/state-machine-utils.l")

(setq count 0)
(defun func-foo (&rest args)
  (format t "Execute state FOO~%")
  (cond ((< count 3) (incf count) :outcome1)
	(t :outcome2)))
(defun func-bar (&rest args)
  (format t "Execute state BAR~%")
  :outcome2)

(defun sample-smach ()
  (let ((sm (instance state-machine :init)))
    (send sm :add-node (instance state :init :FOO 'func-foo))
    (send sm :add-node (instance state :init :BAR 'func-bar))
    ;; goal-states are generated in this method
    (send sm :goal-state (list :outcome3))

    ;; select a node as start-node
    (send sm :start-state :FOO)
    ;; from and to nodes are selected by name or symbol
    (send sm :add-transition :FOO :BAR :outcome1)
    (send sm :add-transition :FOO :outcome3 :outcome2)
    (send sm :add-transition :BAR :FOO :outcome2)
    sm ))

(defun main ()
  (ros::roseus "smach_eus")
  (exec-state-machine (sample-smach))
  (exit)
  )

(main)

Python3 example test_smach.py

#!/usr/bin/env python3

import rospy
import smach
import smach_ros

class FOO(smach.State):
    def __init__(self):
        smach.State.__init__(self, outcomes=['OUTCOME1','OUTCOME2'])
        self.counter = 0

    def execute(self, userdata):
        rospy.loginfo('Executing state FOO')
        if self.counter < 3:
            self.counter += 1
            return 'OUTCOME1'
        else:
            return 'OUTCOME2'

class BAR(smach.State):
    def __init__(self):
        smach.State.__init__(self, outcomes=['OUTCOME2'])

    def execute(self, userdata):
        rospy.loginfo('Executing state BAR')
        return 'OUTCOME2'

def main():
    rospy.init_node('smach_sample2')

    sm_top = smach.StateMachine(outcomes=['OUTCOME3'])

    with sm_top:
        smach.StateMachine.add('FOO', FOO(), transitions={'OUTCOME1':'BAR', 'OUTCOME2':'OUTCOME3'})
        smach.StateMachine.add('BAR', BAR(), transitions={'OUTCOME2':'FOO'})

    sis = smach_ros.IntrospectionServer('server_name', sm_top, '/SM_ROOT')
    sis.start()
    outcome = sm_top.execute()
    rospy.spin()
    sis.stop()

if __name__ == '__main__':
    main()

The error cases

Current melodic-devel branch with test_smach.py

[ERROR][1739202599.428296][/smach_viewer:rosout]: bad callback: <bound method SmachViewerFrame._status_msg_update of <__main__.SmachViewerFrame object at 0x7f9acb4da4c0>>
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback
    cb(msg)
  File "/home/obinata/ros/catkin_ws/src/ros-visualization/executive_smach_visualization/smach_viewer/scripts/smach_viewer.py", line 530, in _status_msg_update
    SmachViewerBase._status_msg_update(self, msg)
  File "/home/obinata/ros/catkin_ws/src/ros-visualization/executive_smach_visualization/smach_viewer/src/smach_viewer/smach_viewer_base.py", line 490, in _status_msg_update
    if container.update_status(msg):
  File "/home/obinata/ros/catkin_ws/src/ros-visualization/executive_smach_visualization/smach_viewer/src/smach_viewer/smach_viewer_base.py", line 102, in update_status
    self._local_data._data = self._load_local_data(msg)
  File "/home/obinata/ros/catkin_ws/src/ros-visualization/executive_smach_visualization/smach_viewer/src/smach_viewer/smach_viewer_base.py", line 75, in _load_local_data
    local_data = pickle.loads(
_pickle.UnpicklingError: pickle data was truncated

4.1.0 release with test-smach.l

Traceback (most recent call last):
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback
    cb(msg)
  File "/home/obinata/ros/catkin_ws/src/ros-visualization/executive_smach_visualization/smach_viewer/scripts/smach_viewer.py", line 530, in _status_msg_update
    SmachViewerBase._status_msg_update(self, msg)
  File "/home/obinata/ros/catkin_ws/src/ros-visualization/executive_smach_visualization/smach_viewer/src/smach_viewer/smach_viewer_base.py", line 492, in _status_msg_update
    if container.update_status(msg):
  File "/home/obinata/ros/catkin_ws/src/ros-visualization/executive_smach_visualization/smach_viewer/src/smach_viewer/smach_viewer_base.py", line 104, in update_status
    self._local_data._data = self._load_local_data(msg)
  File "/home/obinata/ros/catkin_ws/src/ros-visualization/executive_smach_visualization/smach_viewer/src/smach_viewer/smach_viewer_base.py", line 78, in _load_local_data
    local_data = pickle.loads(base64.b64decode(msg.local_data))
  File "/usr/lib/python3.8/base64.py", line 87, in b64decode
    return binascii.a2b_base64(s)
binascii.Error: Incorrect padding

[mqcmd196]

So, it seems that the PRs

• [smach_viewer] fix python3 bytes control #53
• Fix pickle loads python version #55

should be reverted and I need to fix roseus_smach side. It seems that roseus_smach publishes weird topic.

❯ rosrun roseus_smach state-machine-ros-sample.l
configuring by "/opt/ros/noetic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl ;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph gnuplotlib ___time ___pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx eusjpeg euspng png irtimage irtglrgb
;; extending gcstack 0x56390b06a680[16374] --> 0x56390b4f5570[32748] top=3d4b
irtgl irtglc irtviewer
EusLisp 9.29( 1.2.5) for Linux64 created on ip-10-0-1-5(Tue Jun 20 10:34:21 PST 2023)
roseus ;; loading roseus("1.7.5") on euslisp((9.29 ip-10-0-1-5 Tue Jun 20 10:34:21 PST 2023  1.2.5))
eustf roseus_c_util ;;(smach-simple)
;;(smach-nested)
;;(smach-userdata)
;;(exec-smach-simple)
;;(exec-smach-nested)
;;(exec-smach-userdata)
1.irteusgl$ (exec-smach-simple)
Executing state :foo
Execute state FOO
State machine transitioning '(:foo)' :'(:outcome1)' --> '(:bar)'
Executing state :bar
Execute state BAR
State machine transitioning '(:bar)' :'(:outcome2)' --> '(:foo)'
Executing state :foo
Execute state FOO
State machine transitioning '(:foo)' :'(:outcome1)' --> '(:bar)'
Executing state :bar
Execute state BAR
State machine transitioning '(:bar)' :'(:outcome2)' --> '(:foo)'
Executing state :foo
Execute state FOO
State machine transitioning '(:foo)' :'(:outcome1)' --> '(:bar)'
Executing state :bar
Execute state BAR
State machine transitioning '(:bar)' :'(:outcome2)' --> '(:foo)'
Executing state :foo
Execute state FOO
State machine terminating '(:foo)' :'(:outcome2)' --> '(:outcome4)'
#<state #X56390c1734a8 :outcome4>

❯ rostopic echo /server_name/smach/container_status
header:
  seq: 1
  stamp:
    secs: 1739323795
    nsecs:  87604757
  frame_id: ''
path: "/SM_ROOT"
initial_states:
  - FOO
active_states:
  - FOO
local_data: "(l(da."
info: ''
---
header:
  seq: 2
  stamp:
    secs: 1739323796
    nsecs:  87735824
  frame_id: ''
path: "/SM_ROOT"
initial_states:
  - FOO
active_states:
  - BAR
local_data: "(l(da(l(daa."
info: ''
---
header:
  seq: 3
  stamp:
    secs: 1739323797
    nsecs:  87728701
  frame_id: ''
path: "/SM_ROOT"
initial_states:
  - FOO
active_states:
  - FOO
local_data: "(l(da(l(daa."
info: ''
---
header:
  seq: 4
  stamp:
    secs: 1739323798
    nsecs:  87703882
  frame_id: ''
path: "/SM_ROOT"
initial_states:
  - FOO
active_states:
  - BAR
local_data: "(l(da(l(daa."
info: ''
---
header:
  seq: 5
  stamp:
    secs: 1739323799
    nsecs:  87733910
  frame_id: ''
path: "/SM_ROOT"
initial_states:
  - FOO
active_states:
  - FOO
local_data: "(l(da(l(daa."
info: ''
---
header:
  seq: 6
  stamp:
    secs: 1739323800
    nsecs:  87733554
  frame_id: ''
path: "/SM_ROOT"
initial_states:
  - FOO
active_states:
  - BAR
local_data: "(l(da(l(daa."
info: ''
---
header:
  seq: 7
  stamp:
    secs: 1739323801
    nsecs:  87732814
  frame_id: ''
path: "/SM_ROOT"
initial_states:
  - FOO
active_states:
  - FOO
local_data: "(l(da(l(daa."
info: ''
---
header:
  seq: 8
  stamp:
    secs: 1739323802
    nsecs:  87720520
  frame_id: ''
path: "/SM_ROOT"
initial_states:
  - FOO
active_states: []
local_data: "(l(da(l(daa."
info: ''
---

local_data field contains weird string??