TypeError:“numpy。float64的对象不可调用?

I can't figure out why I'm getting this error. Any help would be appreciated.

我不知道为什么会出现这个错误。如有任何帮助，我们将不胜感激。

This code is for basic autonomous navigation of a small all terrain vehicle. For some reason it's getting caught in the heading and bearing calculation functions. I've tried putting either one first in the run function, and it does the same thing.

此代码用于小型全地形车辆的基本自主导航。由于某些原因，它被捕获在标题和轴承计算功能。我试过在运行函数中输入第一个，它也做同样的事情。

I'm fairly inexperienced with python, so it's likely something simple that I am overlooking.

我对python相当缺乏经验，所以我可能忽略了一些简单的东西。

#!/usr/bin/env python

import rospy
from geometry_msgs.msg import Twist
from geometry_msgs.msg import Vector3Stamped
from geometry_msgs.msg import Vector3
from math import radians
from sensor_msgs.msg import NavSatFix
import time
import numpy

lat = 0.0
lon = 0.0
x = 0.0
y = 0.0
z = 0.0
head = 0.0
bear = 0.0


###########################################################
destLat = 30.210406
#                                   Destination
destLon = -92.022914
############################################################


class sub():

    def __init__(self):
        rospy.init_node('Test1', anonymous=False)
        rospy.Subscriber("/imu_um6/mag", Vector3Stamped, self.call_1)
        rospy.Subscriber("/gps/fix", NavSatFix, self.call_2)

    def call_1(self, mag):
        global x
        global y
        global z
        x = mag.vector.x
        y= mag.vector.y
        z= mag.vector.z

    def call_2(self, gps):
        global lat
        global lon

        lat = gps.latitude
        lon = gps.longitude

def head(lat, lon):
    global head
    # Define heading here
    head = numpy.rad2deg(numpy.arctan2(z, y)) + 90
    print(head)


def bear(y,z):
    global bear
    # Define bearing Here
    dLon = destLon - lon
    vert = numpy.sin(dLon) * numpy.cos(destLat)
    horiz = numpy.cos(lat)*numpy.sin(destLat) - numpy.sin(lat)*numpy.cos(destLat)*numpy.cos(dLon)
    bear = (numpy.rad2deg(numpy.arctan2(vert, horiz)) + 360) % 360
    print(bear)


def nav(head, bear, destLat, destLon):
    # Do Navigation Here
    pub = rospy.Publisher('/husky_velocity_controller/cmd_vel', Twist, queue_size=10)
    move_cmd = Twist()
    turn_cmd = Twist()

    move_cmd.linear.x = 2
    turn_cmd.angular.z = radians(45)

    turn_angle = head - bear
#   Prettify the angle 
    if (turn_angle > 180):
        turn_angle -= 360
    elif (turn_angle < -180):
        turn_angle += 360
    else:
        turn_angle = turn_angle

    if (abs(lat-destLat)<.0005 and abs(lon-destLon)<.0005):
        pub.publish(Twist())
        r.sleep()
    else:
        if (abs(turn_angle) < 8):
            pub.publish(move_cmd)
            rospy.spin()
        else:
            pub.publish(turn_cmd)
            r = rospy.Rate(5);
            r.sleep()



def shutdown(self):
    rospy.loginfo("Stop Husky")
    cmd_vel.publish(Twist())
    rospy.sleep(1)


def run():
    sub()
    bear(y,z)
    head(lat,lon)
    nav(head, bear, destLat, destLon)
    print('here')



if __name__ == '__main__':
    try:
        while not rospy.is_shutdown():
            run()
    except rospy.ROSInterruptException:
        rospy.loginfo("stopped")
        pass

Here's the whole output:

这是整个输出:

163.11651134
90.0
here
Traceback (most recent call last):
  File "classTest.py", line 117, in <module>
    run()
  File "classTest.py", line 107, in run
    bear(y,z)
TypeError: 'numpy.float64' object is not callable

Thanks

谢谢

2 个解决方案

#1

You can't use the same variable name for a function and a float (in the same namespace). And you both defined a bear function and a bear variable pointing to a float. You need to change one of the two names.

不能对函数和浮点数使用相同的变量名(在相同的名称空间中)。你们都定义了一个bear函数和一个指向浮点数的bear变量。你需要改变这两个名字中的一个。

#2

Wrong, so wrong!!! :)

错了,错了! ! !:)

def bear(y,z):
    global bear
    ....