jr-robotics/robo-gym-server-modules

Robot Servers and Server Manager software for robo-gym

robo-gym-server-modules

Robot Servers and Server Manager software for robo-gym.

For info on how to use this package please visit the robo-gym website or the main robo-gym repository.

Install

pip install robo-gym-server-modules

Server Manager

How to use

The commands to control the Server Manager are:

• start-server-manager starts the Server Manager in the background
• attach-to-server-manager attaches the console to the Server Manager tmux session allowing to visualize the status of the Server Manager
• Ctrl+B, D detaches the console from the Server Manager tmux session
• kill-all-robot-servers kills all the running Robot Servers and the Server Manager
• kill-server-manager kills the Server Manager
• restart-server-manager kills all the running Robot Servers and the Server Manager and starts the Server Manager in the background

Testing

Start the Server Manager and attach to the session with:

start-server-manager && attach-to-server-manager

Expected output:

2021-XX-XX XX:XX:XX,XXX - serverManager - INFO - Server Manager started at 50100

If you get: start-server-manager: command not found it is most probably because your $PATH is not set correctly, to fix the problem add:

export PATH="/home/<your_username>/.local/bin:$PATH"

to your .bashrc file.

Troubleshooting

The Server Manager starts the Robot Server/s in a tmux session. To access the session of the Robot Server, first connect to the tmux server with:

tmux -L ServerManager 

Then navigate to the session with Ctrl+b )

Tmux cheat sheet

Additional info

How to manually generate python code for the RobotServer

From the repository root folder:

 python -m grpc_tools.protoc -Irobo_gym_server_modules/robot_server/grpc_msgs/protos --python_out=robo_gym_server_modules/robot_server/grpc_msgs/python/. --grpc_python_out=robo_gym_server_modules/robot_server/grpc_msgs/python/. robo_gym_server_modules/robot_server/grpc_msgs/protos/robot_server.proto

robo-gym-server-modules's Issues

Error while running test python client

Hi!

While running the test MIR robot client program, I'm getting an error:
_InactiveRpcError of RPC that terminated with:
status = StatusCode.UNAVAILABLE
details = "failed to connect to all addresses"
debug_error_string = "{"created":"@1602461115.459864652","description":"Failed to pick subchannel","file":"src/core/ext/filters/client_channel/client_channel.cc","file_line":3941,"referenced_errors":[{"created":"@1602461115.459861937","description":"failed to connect to all addresses","file":"src/core/ext/filters/client_channel/lb_policy/pick_first/pick_first.cc","file_line":393,"grpc_status":14}]}"

On the client side, I get
Starting new Robot Server | Tentative 1
Starting new Robot Server | Tentative 2
Starting new Robot Server | Tentative 3
Starting new Robot Server | Tentative 4

Can you please help me out?
Thanks,
Kiran

Automatically exit when start the server manager and attach to the session

When I type in start-server-manager&&attach-to-server-manager，it returns [exited], do you know how to solve this problem?

On launch of robogym servers, pb2 error, TypeError: Descriptors cannot not be created directly.

Hi,

I am trying to use the robogym servers and am running into this issue on launch.

Details of my setup: Ubuntu 20, Ros Noetic, python 3.8.10

The command that I am running that results in the error:

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

The error:

Traceback (most recent call last):
File "/home/kirstyellis/robogym_ws/devel/lib/ur_robot_server/robot_server.py", line 15, in
exec(compile(fh.read(), python_script, 'exec'), context)
File "/home/kirstyellis/robogym_ws/src/robo-gym-robot-servers/ur_robot_server/scripts/robot_server.py", line 5, in
from ur_robot_server.ros_bridge import UrRosBridge
File "/home/kirstyellis/robogym_ws/src/robo-gym-robot-servers/ur_robot_server/src/ur_robot_server/ros_bridge.py", line 12, in
from robo_gym_server_modules.robot_server.grpc_msgs.python import robot_server_pb2
File "/home/kirstyellis/.local/lib/python3.8/site-packages/robo_gym_server_modules/robot_server/grpc_msgs/python/robot_server_pb2.py", line 36, in
_descriptor.FieldDescriptor(
File "/home/kirstyellis/.local/lib/python3.8/site-packages/google/protobuf/descriptor.py", line 560, 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).

Any ideas what is causing this? Has anyone else hit this issue?

Thanks!

typo in /robo_gym_server_modules/server_manager/client.py", line 65

line 65: raise RuntimeError('Failed {} tentatives of killing Robot Server'.forma(str(max_tentatives)))
AttributeError: 'str' object has no attribute 'forma'

FYI!