TypeError: 'numpy.float64' object is not callable?

Question

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

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.

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

#!/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:

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

Notice that run works one time; it's the second call that encounters a different bear (and head). I would try to get rid of this globals approach to saving the state. Saving state as attributes of a class object is better. But I'm not sure how that will play with the rosby calls. — hpaulj
– hpaulj, Commented May 15, 2016 at 18:47

Roberto · Accepted Answer · 2016-05-14 23:24:18Z

17

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.

answered May 14, 2016 at 23:24

Roberto

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Comments

hpaulj · Accepted Answer · 2016-05-15 00:23:46Z

3

Wrong, so wrong!!! :)

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

answered May 15, 2016 at 0:23

hpaulj

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2 Comments

ohmu Over a year ago

While I completely agree with this, I don't know if this answer clearly answers the OP's question.

hpaulj Over a year ago

Of itself it probably isn't the cause. You could get this error without the global. But the juxtaposition of these lines points to some funny business in using the identifier bear. Maybe the programmer is used to language that keeps variables and functions in different namespaces. Also overuse of global is a common rookie mistake,

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