asyncio #500
Description
I am trying to get robotics toolbox working on an Ubuntu machine running 22.04.05 LTS, (though I also had this issue on an up-to-date MacOS system, the configs below are all from the Ubuntu machine). I have robotics toolbox installed in a venv, and installed via pip (version 1.1.1)
I have asyncio Version: 4.0.0, swift-sim v 1.1.0
The python file I am running is a copy-paste of the Resolved-Rate Motion Control example from https://pypi.org/project/swift-sim/
For anything I run that attempts to call Swift, I get the following asyncio error:
(rtbox_sandbox) kat@ur3e-hub:~/rtbox_sandbox$ python swiftsim-test.py Exception in thread Thread-1 (SwiftSocket): Traceback (most recent call last): File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner self.run() File "/usr/lib/python3.10/threading.py", line 953, in run self._target(*self._args, **self._kwargs) File "/home/kat/rtbox_sandbox/lib/python3.10/site-packages/swift/SwiftRoute.py", line 296, in __init__ start_server = websockets.serve(self.serve, "localhost", port) File "/home/kat/rtbox_sandbox/lib/python3.10/site-packages/websockets/asyncio/server.py", line 743, in __init__ self.server = Server( File "/home/kat/rtbox_sandbox/lib/python3.10/site-packages/websockets/asyncio/server.py", line 284, in __init__ self.loop = asyncio.get_running_loop() RuntimeError: no running event loop
Is there some version issue I need to resolve to get this working? I am writing my own controller and rtb otherwise seems like the perfect way to implement it and test it out.
Thanks!