jr-robotics/robo-gym-robot-servers

Repository containing Robot Servers ROS packages

robo-gym-robot-servers

Repository containing Robot Servers ROS packages for the robo-gym toolkit.

The robo-gym-robot-servers provide an interface to the Gazebo simulations and to the real robots.

• Supported Systems
• Installation
• How to use
• Troubleshooting
• Examples

Supported Systems

Recommended System Setup: Ubuntu 20.04 - ROS Noetic - Python [>3.7]

The packages have been tested for ROS Noetic and Melodic. We will try to maintain compatibility with ROS Melodic for as long as possible, nevertheless our main efforts will be based on ROS Noetic.

Robots currently implemented

• MiR100
• Universal Robots: UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16

WARNING for ROS Kinetic users

The compatibility of the Universal Robots environments with ROS Kinetic has been maintained until version v0.1.8 included. After this version we integrated a refactored version of the universal_robot repository which is not compatible with ROS Kinetic. To use the UR environments on ROS kinetic you need to use v0.1.8 of the robo-gym package and v.0.1.8 of the robo-gym-robot-servers. See #16 for more details.

Installation

Ubuntu 20.04 - ROS Noetic - Python [>3.7]

1. Setup your computer to accept software from packages.ros.org

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

2. Install the required packages

sudo apt-get update && sudo apt-get install apt-utils build-essential psmisc vim-gtk git swig sudo libcppunit-dev python3-catkin-tools python3-rosdep python3-pip python3-rospkg python3-future python3-osrf-pycommon

3. Open a new terminal and set the environment variables. Use the same terminal for all the installation steps.

# Set robo-gym ROS workspace folder
export ROBOGYM_WS=~/robogym_ws 
# Set ROS distribution
export ROS_DISTRO=noetic

4. Create a workspace folder in the home folder of your PC and clone this repository

mkdir -p $ROBOGYM_WS/src && cd $ROBOGYM_WS/src && git clone https://github.com/jr-robotics/robo-gym-robot-servers.git

5. Clone required packages, build the workspace and install required python modules

git clone -b $ROS_DISTRO https://github.com/jr-robotics/mir_robot.git
git clone -b $ROS_DISTRO https://github.com/jr-robotics/universal_robot.git
git clone -b v0.7.1-dev https://github.com/jr-robotics/franka_ros_interface
git clone https://github.com/jr-robotics/franka_panda_description
git clone -b ${ROS_DISTRO}-devel https://github.com/jr-robotics/panda_simulator
git clone https://github.com/orocos/orocos_kinematics_dynamics
cd orocos_kinematics_dynamics && git checkout b35c424e77ebc5b7e6f1c5e5c34f8a4666fbf5bc
cd $ROBOGYM_WS
sudo apt-get update
sudo rosdep init
rosdep update
rosdep install --from-paths src -i -y --rosdistro $ROS_DISTRO
catkin init
source /opt/ros/$ROS_DISTRO/setup.bash
catkin build
pip3 install robo-gym-server-modules scipy numpy
pip3 install --upgrade protobuf

6. Add the sourcing of ROS and the ROS workspace to your .bashrc file:

printf "source /opt/ros/$ROS_DISTRO/setup.bash\nsource $ROBOGYM_WS/devel/setup.bash" >> ~/.bashrc

Ubuntu 18.04 - ROS Melodic - Python 2

Click to expand

1. Setup your computer to accept software from packages.ros.org

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

2. Install the required packages

sudo apt-get update && sudo apt-get install apt-utils build-essential psmisc vim-gtk git swig sudo libcppunit-dev python-catkin-tools python-rosdep python-pip python-rospkg python-future

3. Open a new terminal and set the environment variables. Use the same terminal for all the installation steps.

# Set robo-gym ROS workspace folder
export ROBOGYM_WS=~/robogym_ws 
# Set ROS distribution
export ROS_DISTRO=melodic

4. Create a workspace folder in the home folder of your PC and clone this repository

mkdir -p $ROBOGYM_WS/src && cd $ROBOGYM_WS/src && git clone https://github.com/jr-robotics/robo-gym-robot-servers.git

5. Clone required packages, build the workspace and install required python modules

git clone -b $ROS_DISTRO https://github.com/jr-robotics/mir_robot.git
git clone -b $ROS_DISTRO https://github.com/jr-robotics/universal_robot.git
git clone -b v0.7.1-dev https://github.com/jr-robotics/franka_ros_interface
git clone https://github.com/jr-robotics/franka_panda_description
git clone -b ${ROS_DISTRO}-devel https://github.com/jr-robotics/panda_simulator
git clone https://github.com/orocos/orocos_kinematics_dynamics
cd orocos_kinematics_dynamics && git checkout b35c424e77ebc5b7e6f1c5e5c34f8a4666fbf5bc
cd $ROBOGYM_WS
sudo apt-get update
sudo rosdep init
rosdep update
rosdep install --from-paths src -i -y --rosdistro $ROS_DISTRO
catkin init
source /opt/ros/$ROS_DISTRO/setup.bash
catkin build
pip install --upgrade pip
pip install robo-gym-server-modules scipy numpy

6. Add the sourcing of ROS and the ROS workspace to your .bashrc file:

printf "source /opt/ros/$ROS_DISTRO/setup.bash\nsource $ROBOGYM_WS/devel/setup.bash" >> ~/.bashrc

How to use

MiR100

Simulated Robot

Simulated Robot Servers are handled by the Server Manager. If you want to manually start a Simulated Robot Server use:

roslaunch mir100_robot_server sim_robot_server.launch gui:=true

Real Robot

• Connect to the robot's network

In a terminal window:

• Set ROS Master IP: export ROS_MASTER_URI=http://192.168.12.20:11311
• Launch MiR100 Robot Server roslaunch mir100_robot_server real_robot_server.launch gui:=true

Universal Robots

Simulated Robot

Simulated Robot Servers are handled by the Server Manager. If you want to manually start a Simulated Robot Server use:

roslaunch ur_robot_server ur_robot_server.launch ur_model:=ur10  gui:=true

Real Robot Server

Install UR ROS Driver

To control the UR Robots we use the new UR ROS Driver. At the current status the UR ROS Driver and the Universal_robot package use two different robot descriptions, for this reason it is needed to setup the UR ROS Driver in a separate workspace to avoid conflicts between the two packages.

# Source ROS 
source /opt/ros/$ROS_DISTRO/setup.bash

# Create a new folder for the workspace
mkdir -p ~/urdriver_ws/src
cd ~/urdriver_ws
catkin init

# Clone the necessary packages
cd ~/urdriver_ws/src
git clone https://github.com/jr-robotics/Universal_Robots_ROS_Driver.git
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git

# Install dependencies
cd ~/urdriver_ws
sudo apt update -qq
rosdep update
rosdep install --from-paths src --ignore-src -y

# Build the workspace
catkin build

For additional instructions on how to setup the driver on the robot follow the README of the UR ROS Driver.

How to use

NOTE: The following instructions and command lines have been written for the UR 10 but they apply to all the supported UR robots, for instance for using the UR 5 Robot Server it is sufficient to replace ur10 with ur5 in all the following command lines.

• Connect to the robot's network

In a terminal window start the UR ROS driver:

# Source ROS 
source /opt/ros/$ROS_DISTRO/setup.bash

# source the UR ROS Driver workspace
source ~/urdriver_ws/devel/setup.bash

# start the Driver (replace with the IP of your robot)
roslaunch ur_robot_driver ur10_bringup.launch robot_ip:=192.168.12.70

In another terminal window start the Robot Server

# Source ROS 
source /opt/ros/$ROS_DISTRO/setup.bash

# source robo-gym workspace
source ~/robogym_ws/devel/setup.bash

# start the Robot Server
roslaunch ur_robot_server ur_robot_server.launch ur_model:=ur10 real_robot:=true gui:=true max_torque_scale_factor:=0.5 max_velocity_scale_factor:=0.5 speed_scaling:=0.5

Troubleshooting

The Robot Server uses the standard ROS logging system, you can find the latest log of the Robot Server at: .ros/log/latest/robot_server-*.log

Examples

See example_robot_server for a basic implementation of a Robot Server reduced to its minimum form. The example implements a Robot Server for the robot MiR100 with basic functionality and it is meant as a good place to start from to implement a Robot Server for your own robot.

robo-gym-robot-servers's Issues

Problem of download

I am using ubuntu18 with ros melodic
When I running "rosdep install --from-paths src -i -y --rosdistro $ROS_DISTRO "
It will return:
ERROR: the following rosdeps failed to install
apt: command [sudo -H apt-get install -y ros-melodic-franka-example-controllers] failed

How can I solve that?

Debug method for implementing other robots

Hello, I'm trying to implement a turtlebot server, but I'm at a lost at how to debug.

For example, I get an Rpc Error in the Server Manager when I try to initialize the environment, after suppressing the try-except block (sorry I'm having issues copying the text):

Launching the Mir100 environment, I have no issue, so I'm not sure what fixes to attempt.

Any advice would be appreciated.

Thanks!

Questions for creating new costumed robot server

Under 'example_robot_server' in the ros_bridge.py file:
1. I don't see 'control_period' (like what you have in the UR robot server). Is there no need for this variable?
2. Is it true that under 'get_state' I define the observations and this is where I need to define the images from the robot camera as observations?

Support for ROS2 ?

Hi
I am wondering what is the current point of view of this project regarding ROS rolling.
Is it already supported?
Is it planned in the future?

How can we implement other robots?

Hi, if we want to use other robots, for example, sawyer, how can we implement?
Are there any guidelines to implement?

Unable to create Real Robot Environment

So im at the step "Real Robot Environment" in your github repository. I already started the robot server and am connected to my real world ur5, as you can see in this screenshot:

Now the problem is, when i try to run

import gym, robo_gym
#ip adress of the ur5 = 192.168.9.100 and robot server is 50051 as you can see in the screenshot
env = gym.make('EnvironmentNameRob-v0', rs_address='192.168.0.100:50051')

env.reset()

First i get the following error:

Traceback (most recent call last):
  File "/home/moga/Desktop/start.py", line 3, in <module>
    env = gym.make('EnvironmentNameRob-v0', rs_address='192.168.0.100:50051')
  File "/home/moga/.local/lib/python3.8/site-packages/gym/envs/registration.py", line 569, in make
    _check_version_exists(ns, name, version)
  File "/home/moga/.local/lib/python3.8/site-packages/gym/envs/registration.py", line 219, in _check_version_exists
    _check_name_exists(ns, name)
  File "/home/moga/.local/lib/python3.8/site-packages/gym/envs/registration.py", line 197, in _check_name_exists
    raise error.NameNotFound(
gym.error.NameNotFound: Environment EnvironmentNameRob doesn't exist. Did you mean: `EmptyEnvironmentURRob`?

So i change EnviromentNameRob to EmptyEnvironmentURRob, leaving my code looking like this:

import gym, robo_gym

env = gym.make('EmptyEnvironmentURRob-v0', rs_address='192.168.0.100:50051')

env.reset()
""""
But when i run it now i get the following Error: 

"""
/bin/python3 /home/moga/Desktop/start.py
/home/moga/.local/lib/python3.8/site-packages/gym/spaces/box.py:127: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(f"Box bound precision lowered by casting to {self.dtype}")
/home/moga/.local/lib/python3.8/site-packages/gym/utils/passive_env_checker.py:174: UserWarning: WARN: Future gym versions will require that `Env.reset` can be passed a `seed` instead of using `Env.seed` for resetting the environment random number generator.
  logger.warn(
/home/moga/.local/lib/python3.8/site-packages/gym/utils/passive_env_checker.py:187: UserWarning: WARN: Future gym versions will require that `Env.reset` can be passed `options` to allow the environment initialisation to be passed additional information.
  logger.warn(
Traceback (most recent call last):
  File "/home/moga/Desktop/start.py", line 5, in <module>
    env.reset()
  File "/home/moga/.local/lib/python3.8/site-packages/gym/wrappers/order_enforcing.py", line 42, in reset
    return self.env.reset(**kwargs)
  File "/home/moga/.local/lib/python3.8/site-packages/gym/wrappers/env_checker.py", line 45, in reset
    return env_reset_passive_checker(self.env, **kwargs)
  File "/home/moga/.local/lib/python3.8/site-packages/gym/utils/passive_env_checker.py", line 192, in env_reset_passive_checker
    result = env.reset(**kwargs)
  File "/home/moga/Desktop/robo-gym/robo_gym/envs/ur/ur_base_env.py", line 104, in reset
    if not self.client.set_state_msg(state_msg):
  File "/home/moga/.local/lib/python3.8/site-packages/robo_gym_server_modules/robot_server/client.py", line 17, in set_state_msg
    msg = self.robot_server_stub.SetState(state_msg, timeout = 60)
  File "/home/moga/.local/lib/python3.8/site-packages/grpc/_channel.py", line 1030, in __call__
    return _end_unary_response_blocking(state, call, False, None)
  File "/home/moga/.local/lib/python3.8/site-packages/grpc/_channel.py", line 910, in _end_unary_response_blocking
    raise _InactiveRpcError(state)  # pytype: disable=not-instantiable
grpc._channel._InactiveRpcError: <_InactiveRpcError of RPC that terminated with:
        status = StatusCode.UNAVAILABLE
        details = "failed to connect to all addresses; last error: UNKNOWN: ipv4:192.168.0.100:50051: Failed to connect to remote host: Connection refused"
        debug_error_string = "UNKNOWN:failed to connect to all addresses; last error: UNKNOWN: ipv4:192.168.0.100:50051: Failed to connect to remote host: Connection refused {created_time:"2023-03-31T16:20:50.938544639+02:00", grpc_status:14}"
>

What am i doing wrong here? thank you in advance for every help im a bit lost

ur_robot_server/panda_robot_server: Cannot locate rosdep definition

Hi, I tried to follow the instructions to install robo-gym-robot-servers on my clean Ubuntu 20.04 VM. After installing ROS (Noetic), I run the line rosdep install --from-paths src -i -y --rosdistro $ROS_DISTRO in step 5, then I got the following error:

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
ur_robot_server: Cannot locate rosdep definition for [ur_gazebo]
panda_robot_server: Cannot locate rosdep definition for [panda_gazebo]

Any ideas?
Thanks!

Understanding the Command Handler

Hello,

I am trying to implement my own command handler for a cartesian controller, but there are some things that I don't quite understand. I am using robo gym for a real robot (UR10e). As it seems, if an action, in your case a joint trajectory, should be executed, the ROS bridge publishes this action to the command handler. The rate of this publisher almost equals the $action_cycle_rate (which is 25Hz by default), as the sleep time of this publisher is 1/action_cycle_rate - 0.01. Then, the command handler fills a queue with this action and publishes the traj_controller/command topic with a rate of $action_cycle_rate.

The thing that confuses me is the following statement from the paper:

The robot-actuation cycle time is the time between the individual commands sent to the robot controller and the action cycle time is the time between two subsequent actions generated from the agent.

I would guess that the action cycle time is represented by the variable $action_cycle_rate. But I cannot see an implementation of the robot-actuation cycle time. Furthermore:

The CH continuously publishes command messages to the robot at the frequency required by its controller. If, at the moment of publishing, the queue is full, the CH retrieves the command,publishes it to the robot for the selected number of times and after that it empties the queue.

In the current implementation, it rather seems like the command handler retrieves the command from the queue, publishes it once and then empties the queue. How can I set the number of times this command should be published? Should there be another variable that represents the robot-actuation cycle time, and then the command handler should use the specified rate from this variable to publish the command in traj_controller/command?

Thank you very much in advance.

Unable to start robogym with real UR5

So im trying to use robogym on Ubuntu 20.04 with ROS noetic installed.

I followed all steps in the tutorial. The only thing i did differently is that instead of installing the suggested UR-ROBOT_Driver from this guide i installed the official ones from the UR5 ROS Driver Website. The reason for that was that with the jr-robotics branch i got a rosdep error,

 Cannot locate rosdep definition for [ur_robot_driver]

when i tried it. But with the installation from the official UR5_ROS Driver (https://github.com/UniversalRobots/Universal_Robots_ROS_Driver) git its working fine as you can see in this screenshot:

The Problem is now i want to start the last step in the tutorial and start it with:

roslaunch ur_robot_server ur_robot_server.launch ur_model:=ur5 real_robot:=true gui:=true max_torque_scale_factor:=0.5 max_velocity_scale_factor:=0.5 speed_scaling:=0.5

but i get this error:

roslaunch ur_robot_server ur_robot_server.launch ur_model:=ur5 real_robot:=true gui:=true max_torque_scale_factor:=0.5 max_velocity_scale_factor:=0.5 speed_scaling:=0.5
... logging to /home/moga/.ros/log/3c3ccc6e-cfc9-11ed-9e94-55afee765f77/roslaunch-mogaRoboGym-81286.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://mogaRoboGym:40069/

SUMMARY
========

PARAMETERS
 * /joint_trajectory_command_handler/action_cycle_rate: 25
 * /joint_trajectory_command_handler/real_robot: True
 * /n_objects: 0.0
 * /object_0_frame: 
 * /object_0_model_name: 
 * /object_1_frame: 
 * /object_1_model_name: 
 * /object_trajectory_file_name: no_file
 * /objects_controller: False
 * /real_robot: True
 * /reference_frame: base
 * /robot_server/action_cycle_rate: 25
 * /robot_server/action_mode: abs_pos
 * /robot_server/max_velocity_scale_factor: 0.5
 * /robot_server/real_robot: True
 * /robot_server/reference_frame: base
 * /robot_server/rs_mode: False
 * /robot_server/server_port: 50051
 * /robot_server/target_mode: only_robot
 * /robot_server/ur_model: ur5
 * /robot_server/use_voxel_occupancy: False
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    joint_trajectory_command_handler (ur_robot_server/joint_trajectory_command_handler.py)
    robot_server (ur_robot_server/robot_server.py)
    rviz_mogaRoboGym_81286_5040974041049025646 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[joint_trajectory_command_handler-1]: started with pid [81315]
process[rviz_mogaRoboGym_81286_5040974041049025646-2]: started with pid [81316]
process[robot_server-3]: started with pid [81317]
[ INFO] [1680269939.611275386]: rviz version 1.14.19
[ INFO] [1680269939.611314149]: compiled against Qt version 5.12.8
[ INFO] [1680269939.611322084]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1680269939.618812407]: Forcing OpenGl version 0.
Traceback (most recent call last):
  File "/home/moga/robogym_ws/devel/lib/ur_robot_server/robot_server.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/moga/robogym_ws/src/robo-gym-robot-servers/ur_robot_server/scripts/robot_server.py", line 5, in <module>
    from ur_robot_server.ros_bridge import UrRosBridge
  File "/home/moga/robogym_ws/src/robo-gym-robot-servers/ur_robot_server/src/ur_robot_server/ros_bridge.py", line 12, in <module>
    from robo_gym_server_modules.robot_server.grpc_msgs.python import robot_server_pb2
  File "/home/moga/.local/lib/python3.8/site-packages/robo_gym_server_modules/robot_server/grpc_msgs/python/robot_server_pb2.py", line 36, in <module>
    _descriptor.FieldDescriptor(
  File "/home/moga/.local/lib/python3.8/site-packages/google/protobuf/descriptor.py", line 561, in __new__
    _message.Message._CheckCalledFromGeneratedFile()
TypeError: Descriptors cannot not be created directly.
If this call came from a _pb2.py file, your generated code is out of date and must be regenerated with protoc >= 3.19.0.
If you cannot immediately regenerate your protos, some other possible workarounds are:
 1. Downgrade the protobuf package to 3.20.x or lower.
 2. Set PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python (but this will use pure-Python parsing and will be much slower).

More information: https://developers.google.com/protocol-buffers/docs/news/2022-05-06#python-updates
[ INFO] [1680269939.774207778]: Stereo is NOT SUPPORTED
[ INFO] [1680269939.774252262]: OpenGL device: AMD YELLOW_CARP (DRM 3.42.0, 5.15.0-69-generic, LLVM 12.0.0)
[ INFO] [1680269939.774264856]: OpenGl version: 4,6 (GLSL 4,6) limited to GLSL 1.4 on Mesa system.
[robot_server-3] process has died [pid 81317, exit code 1, cmd /home/moga/robogym_ws/devel/lib/ur_robot_server/robot_server.py __name:=robot_server __log:=/home/moga/.ros/log/3c3ccc6e-cfc9-11ed-9e94-55afee765f77/robot_server-3.log].
log file: /home/moga/.ros/log/3c3ccc6e-cfc9-11ed-9e94-55afee765f77/robot_server-3*.log

Any idea what could be causing this?
Here is a screenshot of what im seeing:

Thank you in advance for every help. Im a bit stuck here :/

UR10 robot server example doesn't start successfully

Running the following code with robo-gym v1.0.0 installed on a host system with python 3.9.5 and robo-gym-robot-servers v1.0.0 installed on an Ubuntu 20.04.3 guest system with python 3.8.10 and ROS Noetic:

import gym
import robo_gym
from robo_gym.wrappers.exception_handling import ExceptionHandling

target_machine_ip = '<guest_ip_address>'

# initialize environment
env = gym.make('EndEffectorPositioningURSim-v0', ip=target_machine_ip, gui=True)
env = ExceptionHandling(env)

num_episodes = 10

for episode in range(num_episodes):
    done = False
    env.reset()
    while not done:
        # random step in the environment
        state, reward, done, info = env.step(env.action_space.sample())

I get the following error on the guest system:

2021-11-12 09:38:18,013 - serverManager - INFO - Tentative 19 of 20
2021-11-12 09:38:18,014 - serverManager - INFO - Waiting 5s before next tentative ...
2021-11-12 09:38:23,017 - serverManager - ERROR - Could not start Robot Server
NoneType: None
2021-11-12 09:38:23,017 - serverManager - ERROR - Failed to add Robot Server
Traceback (most recent call last):
  File "/home/steven/.local/lib/python3.8/site-packages/robo_gym_server_modules/server_manager/server.py", line 119, in StartNewServer
    assert isinstance(rl_server, int)
AssertionError

When running roslaunch ur_robot_server ur_robot_server.launch ur_model:=ur10 gui:=true I get the following output:

... logging to /home/ubuntu/.ros/log/294c2a26-4395-11ec-86ea-0df47a72e456/roslaunch-ubuntu-kvm2-2798.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Property names must not start with double underscore:__joint_limit_parameters
when instantiating macro: read_model_data (/home/ubuntu/robogym_ws/src/universal_robot/ur_description/urdf/inc/ur_common.xacro)
instantiated from: ur_robot (/home/ubuntu/robogym_ws/src/universal_robot/ur_description/urdf/ur_macro.xacro)
instantiated from: ur_robot_gazebo (/home/ubuntu/robogym_ws/src/robo-gym-robot-servers/ur_robot_server/urdf/ur_macro.xacro)
in file: /home/ubuntu/robogym_ws/src/robo-gym-robot-servers/ur_robot_server/urdf/ur.xacro
RLException: while processing /home/ubuntu/robogym_ws/src/robo-gym-robot-servers/ur_robot_server/launch/inc/load_ur10.launch.xml:
while processing /home/ubuntu/robogym_ws/src/robo-gym-robot-servers/ur_robot_server/launch/inc/load_ur.launch.xml:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/noetic/lib/xacro/xacro', '/home/ubuntu/robogym_ws/src/robo-gym-robot-servers/ur_robot_server/urdf/ur.xacro', 'joint_limit_params:=/home/ubuntu/robogym_ws/src/universal_robot/ur_description/config/ur10/joint_limits.yaml', 'kinematics_params:=/home/ubuntu/robogym_ws/src/universal_robot/ur_description/config/ur10/default_kinematics.yaml', 'physical_params:=/home/ubuntu/robogym_ws/src/universal_robot/ur_description/config/ur10/physical_parameters.yaml', 'visual_params:=/home/ubuntu/robogym_ws/src/universal_robot/ur_description/config/ur10/visual_parameters.yaml', 'transmission_hw_interface:=hardware_interface/EffortJointInterface', 'safety_limits:=false', 'safety_pos_margin:=0.15', 'safety_k_position:=20', 'x:=0.0', 'y:=0.0', 'z:=0.1', 'roll:=0.0', 'pitch:=0.0', 'yaw:=0.0', 'camera1_gazebo:=False', 'camera1_link_x:=0.0', 'camera1_link_y:=0.0', 'camera1_link_z:=0.1', 'camera1_link_roll:=0.0', 'camera1_link_pitch:=0.0', 'camera1_link_yaw:=0.0']] returned with code [2]. 

Param xml is <param name="robot_description" command="$(find xacro)/xacro '$(find ur_robot_server)/urdf/ur.xacro'     joint_limit_params:=$(arg joint_limit_params)     kinematics_params:=$(arg kinematics_params)     physical_params:=$(arg physical_params)     visual_params:=$(arg visual_params)     transmission_hw_interface:=$(arg transmission_hw_interface)     safety_limits:=$(arg safety_limits)     safety_pos_margin:=$(arg safety_pos_margin)     safety_k_position:=$(arg safety_k_position)     x:=$(arg x)     y:=$(arg y)     z:=$(arg z)     roll:=$(arg roll)     pitch:=$(arg pitch)     yaw:=$(arg yaw)     camera1_gazebo:=$(arg camera1_gazebo)     camera1_link_x:=$(arg camera1_link_x)     camera1_link_y:=$(arg camera1_link_y)     camera1_link_z:=$(arg camera1_link_z)     camera1_link_roll:=$(arg camera1_link_roll)     camera1_link_pitch:=$(arg camera1_link_pitch)     camera1_link_yaw:=$(arg camera1_link_yaw)"/>
The traceback for the exception was written to the log file

Problem of dowmload

I am using ubuntu18 with ros melodic
When I running "sudo rosdep init "
It will return:
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

How can I solve that?

ERROR at rosdep install --from-paths src -i -y --rosdistro $ROS_DISTRO during Installation

Hello.
I'm installing according to Ubuntu 20.04 - ROS Noetic - Python [>3.7] in Installation. I faced ERROR message at rosdep install.

username@sg-vm-u20:~/robogym_ws$ rosdep install --from-paths src -i -y --rosdistro $ROS_DISTRO
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
panda_gazebo: Cannot locate rosdep definition for [franka_panda_description]
username@sg-vm-u20:~/robogym_ws$ 

Could you help me?

cannot load the ur10 correctly

Hi, I have installed this ros_pkg as the tutorial. However, the following command cannot work well.

roslaunch ur_robot_server ur10_sim_robot_server.launch gui:=true

The error is

Invalid <arg> tag: Unknown substitution command [dirname]. Valid commands are ['find', 'env', 'optenv', 'anon', 'arg']. 

Arg xml is <arg default="$(dirname)/inc/load_ur10.launch.xml" doc="Launch file which populates the 'robot_description' parameter." name="robot_description_file"/>

Could you help me?
I can roslaunch the ur10 as the guide in universal_robot.