socket BrokenPipeError: [Errno 32] Broken pipe

1. 背景

用socket发送Float64MultiArray的数据，写完以后运行服务器和客户端，报错BrokenPipeError: [Errno 32] Broken pipe

2. 解决办法

网上搜了一下解决办法，这一篇说的是一般是客户端和服务端未建立好链接，但其实命令行有正常打印connect的提示
再次检查了一下客户端和服务器端的代码，
将客户端的代码改正确，readdress = ('192.168.103.xx', 12345) #客户client IP guest IP改为readdress = ('192.168.103.5', 12345) #客户client IP guest IP 192.168.103.5这个IP确认是客户端IP

    address = ('192.168.103.13', 12345) #server IP local IP
    readdress = ('192.168.103.5', 12345) #客户client IP guest IP

其次就是看客户端的报错：

neousys@neousys-Nuvo-5000:~/wqw/Myproject$ python tcp_dual_client.py 
Traceback (most recent call last):
  File "tcp_dual_client.py", line 87, in 
    pub.publish(buf_msg)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 879, in publish
    data = args_kwds_to_message(self.data_class, args, kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/msg.py", line 122, in args_kwds_to_message
    return data_class(*args)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/std_msgs/msg/_Float64MultiArray.py", line 74, in __init__
    super(Float64MultiArray, self).__init__(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/genpy/message.py", line 344, in __init__
    raise TypeError('Invalid number of arguments, args should be %s' % str(self.__slots__) + ' args are' + str(args))
TypeError: Invalid number of arguments, args should be ['layout', 'data'] args are(u'[146.0, 137.0, 129.0, 128.0, 136.0, 80.0, 2.0]',)

这里报错的是 pub.publish(buf_msg)这个buf_msg数据格式不对，Invalid number of arguments, publish的数据格式应该是 [‘layout’, ‘data’]，检查了一下代码发现应该发的是vision_pose，而不是buf_msg。vision_pose才是Float64MultiArray格式的数据，将下面代码pub.publish(buf_msg)改为pub.publish(vision_pose)就ＯＫ了

if __name__ == '__main__':
    s = socket.socket()
    IP = "192.168.103.13"
    port = 12345
    s.connect((IP, port))
    vision_pose = Float64MultiArray()
    #gesture_flag = s.recv(1024).decode()

    rospy.init_node('tcp_dual_server', anonymous=True)
    pub = rospy.Publisher('dual_msg_send', Float64MultiArray, queue_size=10)
    #gesture_flag = s.recv(1024).decode()
    #rospy.init_node('talker', anonymous=True)

    rate = rospy.Rate(50) # 10hz
    while not rospy.is_shutdown():
        # for data in s.recv(1024):
        #     sting_msg = data.decode()
        buf_msg = s.recv(1024).decode()
        vision_pose = json.loads(buf_msg)
        

        pub.publish(buf_msg)
        print(vision_pose)

        rate.sleep()
        #rospy.spin()