小编Zer*_*o.J的帖子

我是Python的初学者。我目前正在尝试使用 IK 来移动机器人手臂。当我尝试运行我的程序时，手臂能够移动到我设置的起始位置，但是当它进入下一步时，它会向我显示以下错误：AttributeError: 'bool' object has no attribute 'items'

这是我的程序：

class Pick_Place (object):

    #def __init__(self,limb,hover_distance = 0.15):
    def __init__(self,limb):
       self._limb = baxter_interface.Limb(limb)
       self._gripper = baxter_interface.Gripper(limb)
       self._gripper.calibrate(limb)
       #self.gripper_open()
       #self._verbose = verbose
       ns = "ExternalTools/" + limb + "/PositionKinematicsNode/IKService"
       self._iksvc = rospy.ServiceProxy(ns,SolvePositionIK) 
       rospy.wait_for_service(ns, 5.0)

    def move_to_start (self,start_angles = None):

            print ("moving.....")
            if not start_angles:
                print ("it is 0")
                start_angles = dict(zip(self._joint_names, [0]*7))

            self._guarded_move_to_joint_position(start_angles)
            self.gripper_open()
            rospy.sleep(1.0)
            print ("moved!!!")

#########################IK_Server################################################
    def ik_request (self,pose):
        hdr = Header(stamp=rospy.Time.now(),frame_id='base')
        ikreq = SolvePositionIKRequest()
        ikreq.pose_stamp.append(PoseStamped(header=hdr, pose=pose))
        try:
            resp …