module 'crtk' has no attribute 'ral'

[MichaelWangGo]

Hi, thank you for the opensource!

When I run python dvrk_arm_test.py, I got the error: 'module 'crtk' has no attribute 'ral''.

How can I solve it?

Thank you!

[adeguet1]

You likely have an older version of CRTK python in your workspace. Make sure you use matching versions. I would recommend to use VCS and the VCS files provided along the dVRK. See https://github.com/jhu-saw/vcs Can you go in the source directories for src/crtk/crtk_python_client and src/dvrk/dvrk_python and run `git describe` in each repository? That would tell us which versions you are using. Anton On Jun 20, 2025, at 11:17, Xu Wang ***@***.***> wrote: External Email - Use Caution [https://avatars.githubusercontent.com/u/59171959?s=20&v=4]MichaelWangGo created an issue (jhu-dvrk/dvrk_python#4)<#4> Hi, thank you for the opensource! When I run python dvrk_arm_test.py, I got the error: 'module 'crtk' has no attribute 'ral''. How can I solve it? Thank you! — Reply to this email directly, view it on GitHub<#4>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/AAIRP424P6TUG5EZJ7KBNCT3EQQ2HAVCNFSM6AAAAAB7YSMRTWVHI2DSMVQWIX3LMV43ASLTON2WKOZTGE3DGNRXGU4DKMY>. You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[MichaelWangGo]

Thank you for the reply @adeguet1

We have solved the problem of 'ral' using vcs. The versions of src/crtk/crtk_python_client and src/dvrk/dvrk_python are 1.3.1 and 2.3.0, respectively.

Another question is as follows:

davinci@ucl:~/catkin_ws_xuwang/src/cisst-saw/sawIntuitiveResearchKit/share/ucl-CBH-dVRK/ethernet$ rosrun dvrk_python dvrk_arm_test.py -a PSM1
configuring dvrk_arm_test for PSM1
Traceback (most recent call last):
File "/home/davinci/catkin_ws_xuwang/src/dvrk/dvrk_python/scripts/dvrk_arm_test.py", line 269, in
ral.spin_and_execute(application.run)
File "/home/davinci/catkin_ws_xuwang/src/crtk/crtk_python_client/src/crtk/ral_ros1.py", line 92, in spin_and_execute
function(*arguments)
File "/home/davinci/catkin_ws_xuwang/src/dvrk/dvrk_python/scripts/dvrk_arm_test.py", line 247, in run
self.home()
File "/home/davinci/catkin_ws_xuwang/src/dvrk/dvrk_python/scripts/dvrk_arm_test.py", line 45, in home
self.arm.check_connections()
File "/home/davinci/catkin_ws_xuwang/src/dvrk/dvrk_python/src/dvrk/arm.py", line 107, in check_connections
self.__ral.check_connections(timeout)
File "/home/davinci/catkin_ws_xuwang/src/crtk/crtk_python_client/src/crtk/ral_ros1.py", line 184, in check_connections
self._check_connections(start_time, timeout_duration, check_children)
File "/home/davinci/catkin_ws_xuwang/src/crtk/crtk_python_client/src/crtk/ral_ros1.py", line 143, in _check_connections
child._check_connections(start_time, timeout_duration, check_children)
File "/home/davinci/catkin_ws_xuwang/src/crtk/crtk_python_client/src/crtk/ral_ros1.py", line 168, in _check_connections
raise TimeoutError(err_msg.format(connected_pub_count))
TimeoutError: Timed out waiting for publisher/subscriber connections to establish
Publishers: 0 connected, 1 not connected
not connected: [/PSM1/spatial/servo_cf]
Subscribers: 0 connected, 2 not connected
not connected: [/PSM1/spatial/measured_cf, /PSM1/spatial/jacobian]

[adeguet1]

the check_connections method is used to make sure the publishers and subscribers in the Python scripts have corresponding subscribers and publishers. We use this to make sure all the corresponding topics exist. This has been quite useful when users provide the incorrect namespace (e.g. PSM1 vs PSM2). The drawback is that you need to make sure the main dVRK node (dvrk_console_json) is running before launching the dvrk_arm_test script. You can check that all the topics are "live" using rostopic list before starting dvrk_arm_test

[MichaelWangGo]

the check_connections method is used to make sure the publishers and subscribers in the Python scripts have corresponding subscribers and publishers. We use this to make sure all the corresponding topics exist. This has been quite useful when users provide the incorrect namespace (e.g. PSM1 vs PSM2). The drawback is that you need to make sure the main dVRK node (dvrk_console_json) is running before launching the dvrk_arm_test script. You can check that all the topics are "live" using rostopic list before starting dvrk_arm_test

Thank you!

Now, we run qlacommand -pudp -c close-relays and get this:

Using interface ens1f0 (3), MTU: 3000
Firewire bus reset, FPGA = 4, PC = 0
InitNodes: Firewire bus generation = 4
InitNodes: found hub board: 0
BasePort::ScanNodes: building node map for 16 nodes:
Node 0, BoardId = 12, Firmware Version = 7
Node 1, BoardId = 6, Firmware Version = 7
Node 2, BoardId = 7, Firmware Version = 7
Node 3, BoardId = 5, Firmware Version = 7
Node 4, BoardId = 4, Firmware Version = 7
Node 5, BoardId = 3, Firmware Version = 7
Node 6, BoardId = 2, Firmware Version = 7
Node 7, BoardId = 1, Firmware Version = 7
Node 8, BoardId = 0, Firmware Version = 7
BasePort::ScanNodes: node 9 is not a QLA board (data = 0)
BasePort::ScanNodes: found 9 boards
BasePort::SetDefaultProtocol: all nodes broadcast capable and support shorter wait
Initialization done
Executing command "close-relays" on 9 nodes

Then we run rosrun dvrk_robot dvrk_console_json -j console-PSM1.json, I think this command makes sure that dVRK node (dvrk_console_json) is running, we only have one PSM1 is working, other PSMs are broken. We then run rosrun dvrk_python dvrk_arm_test.py -a PSM1 and get these:
configuring dvrk_arm_test for PSM1
[WARN] [1752163773.611409]: Could not process inbound connection: topic types do not match: [geometry_msgs/TransformStamped] vs. [geometry_msgs/PoseStamped]{'callerid': '/dvrk_1752163607038363075', 'md5sum': 'b5764a33bfeb3588febc2682852579b0', 'tcp_nodelay': '0', 'topic': '/PSM1/servo_cp', 'type': 'geometry_msgs/TransformStamped'}
[WARN] [1752163773.628867]: Could not process inbound connection: topic types do not match: [geometry_msgs/TransformStamped] vs. [geometry_msgs/PoseStamped]{'callerid': '/dvrk_1752163607038363075', 'md5sum': 'b5764a33bfeb3588febc2682852579b0', 'tcp_nodelay': '0', 'topic': '/PSM1/move_cp', 'type': 'geometry_msgs/TransformStamped'}
Traceback (most recent call last):
File "/home/davinci/catkin_ws_xuwang/src/dvrk/dvrk_python/scripts/dvrk_arm_test.py", line 269, in
ral.spin_and_execute(application.run)
File "/home/davinci/catkin_ws_xuwang/src/crtk/crtk_python_client/src/crtk/ral_ros1.py", line 92, in spin_and_execute
function(*arguments)
File "/home/davinci/catkin_ws_xuwang/src/dvrk/dvrk_python/scripts/dvrk_arm_test.py", line 247, in run
self.home()
File "/home/davinci/catkin_ws_xuwang/src/dvrk/dvrk_python/scripts/dvrk_arm_test.py", line 45, in home
self.arm.check_connections()
File "/home/davinci/catkin_ws_xuwang/src/dvrk/dvrk_python/src/dvrk/arm.py", line 107, in check_connections
self.__ral.check_connections(timeout)
File "/home/davinci/catkin_ws_xuwang/src/crtk/crtk_python_client/src/crtk/ral_ros1.py", line 184, in check_connections
self._check_connections(start_time, timeout_duration, check_children)
File "/home/davinci/catkin_ws_xuwang/src/crtk/crtk_python_client/src/crtk/ral_ros1.py", line 143, in _check_connections
child._check_connections(start_time, timeout_duration, check_children)
File "/home/davinci/catkin_ws_xuwang/src/crtk/crtk_python_client/src/crtk/ral_ros1.py", line 168, in _check_connections
raise TimeoutError(err_msg.format(connected_pub_count))
TimeoutError: Timed out waiting for publisher/subscriber connections to establish
Publishers: 0 connected, 0 not connected
not connected: []

Subscribers: 0 connected, 2 not connected
             not connected: [/PSM1/local/measured_cp, /PSM1/local/setpoint_cp]

And the other terminal tab pops these:

[ERROR] [1752163773.223435060]: Client [/dvrk_arm_test_80898_1752163773057] wants topic /PSM1/setpoint_cp to have datatype/md5sum [geometry_msgs/PoseStamped/d3812c3cbc69362b77dc0b19b345f8f5], but our version has [geometry_msgs/TransformStamped/b5764a33bfeb3588febc2682852579b0]. Dropping connection.
[ERROR] [1752163773.237602289]: Client [/dvrk_arm_test_80898_1752163773057] wants topic /PSM1/measured_cp to have datatype/md5sum [geometry_msgs/PoseStamped/d3812c3cbc69362b77dc0b19b345f8f5], but our version has [geometry_msgs/TransformStamped/b5764a33bfeb3588febc2682852579b0]. Dropping connection.
[ERROR] [1752163773.291184757]: Client [/dvrk_arm_test_80898_1752163773057] wants topic /PSM1/local/measured_cp to have datatype/md5sum [geometry_msgs/PoseStamped/d3812c3cbc69362b77dc0b19b345f8f5], but our version has [geometry_msgs/TransformStamped/b5764a33bfeb3588febc2682852579b0]. Dropping connection.
[ERROR] [1752163773.295025927]: Client [/dvrk_arm_test_80898_1752163773057] wants topic /PSM1/local/setpoint_cp to have datatype/md5sum [geometry_msgs/PoseStamped/d3812c3cbc69362b77dc0b19b345f8f5], but our version has [geometry_msgs/TransformStamped/b5764a33bfeb3588febc2682852579b0]. Dropping connection.

[adeguet1]

We changed the default payload for the CRTK topics providing measured cartesian positions from TransformStamped to PoseStamped a while back. I would assume you're using a fairly old version of the dVRK software stack and should likely upgrade. At that point, I would suggest you email me directly and we can schedule a Zoom meeting to go over your setup and find the best way to fix your issues,.