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Geonhee-LEE / ur-reaching-reinforcement-learning

Reinforcement learning using rlkit, UR5, Robotiq gripper on ROS(Robot Operating System)
123 stars 21 forks source link

Build error #9

Open Geonhee-LEE opened 3 years ago

Geonhee-LEE commented 3 years ago 
1. `Make Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "moveit_core" with
  any of the following names:

    moveit_coreConfig.cmake
    moveit_core-config.cmake

  Add the installation prefix of "moveit_core" to CMAKE_PREFIX_PATH or set
  "moveit_core_DIR" to a directory containing one of the above files.  If
  "moveit_core" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  ur-reaching-reinforcement-learning/ur_kinematics/CMakeLists.txt:6 (find_package)
Geonhee-LEE commented 3 years ago

sudo apt install ros-melodic-moveit-core

Geonhee-LEE commented 3 years ago 
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "industrial_msgs"
  with any of the following names:

    industrial_msgsConfig.cmake
    industrial_msgs-config.cmake

  Add the installation prefix of "industrial_msgs" to CMAKE_PREFIX_PATH or
  set "industrial_msgs_DIR" to a directory containing one of the above files.
  If "industrial_msgs" provides a separate development package or SDK, be
  sure it has been installed.
Call Stack (most recent call first):
  ur-reaching-reinforcement-learning/ur_modern_driver/CMakeLists.txt:11 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/syscon/rl_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/syscon/rl_ws/build/CMakeFiles/CMakeError.log".
Geonhee-LEE commented 3 years ago

sudo apt install ros-melodic-industrial-msgs

Geonhee-LEE commented 3 years ago 
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "moveit_kinematics"
  with any of the following names:

    moveit_kinematicsConfig.cmake
    moveit_kinematics-config.cmake

  Add the installation prefix of "moveit_kinematics" to CMAKE_PREFIX_PATH or
  set "moveit_kinematics_DIR" to a directory containing one of the above
  files.  If "moveit_kinematics" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  ur-reaching-reinforcement-learning/ur_kinematics/CMakeLists.txt:6 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/syscon/rl_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/syscon/rl_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
Geonhee-LEE commented 3 years ago 
sudo aptitude install ros-melodic-moveit-kinematics
sudo aptitude install ros-melodic-moveit-visual-tools
sudo aptitude install ros-melodic-moveit-ros-planning
sudo aptitude install ros-melodic-moveit-ros-planning-interface
sudo aptitude install ros-melodic-moveit-ros-perception
Geonhee-LEE commented 3 years ago 
syscon@syscon-GH:~$ sudo apt-get install -f ros-melodic-moveit-kinematics
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 ros-melodic-moveit-kinematics : Depends: liburdfdom-tools
E: Unable to correct problems, you have held broken packages.
Geonhee-LEE commented 3 years ago

-

syscon@syscon-GH:~$ sudo apt-get install -f ros-melodic-moveit-kinematics
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 ros-melodic-moveit-kinematics : Depends: liburdfdom-tools
E: Unable to correct problems, you have held broken packages.

solution: https://askubuntu.com/questions/563178/the-following-packages-have-unmet-dependencies

Geonhee-LEE commented 3 years ago 
[ 94%] Building CXX object ur-reaching-reinforcement-learning/ur_modern_driver/CMakeFiles/ur_driver.dir/src/ur/server.cpp.o
ur-reaching-reinforcement-learning/ur_robotiq_moveit_api/CMakeFiles/ur_move_group_interface.dir/build.make:62: recipe for target 'ur-reaching-reinforcement-learning/ur_robotiq_moveit_api/CMakeFiles/ur_move_group_interface.dir/src/ur_move_group_interface.cpp.o' failed
make[2]: *** [ur-reaching-reinforcement-learning/ur_robotiq_moveit_api/CMakeFiles/ur_move_group_interface.dir/src/ur_move_group_interface.cpp.o] Error 1
CMakeFiles/Makefile2:6807: recipe for target 'ur-reaching-reinforcement-learning/ur_robotiq_moveit_api/CMakeFiles/ur_move_group_interface.dir/all' failed
make[1]: *** [ur-reaching-reinforcement-learning/ur_robotiq_moveit_api/CMakeFiles/ur_move_group_interface.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 96%] Building CXX object ur-reaching-reinforcement-learning/ur_modern_driver/CMakeFiles/ur_driver.dir/src/ur/stream.cpp.o
[ 96%] Linking CXX executable /home/syscon/rl_ws/devel/lib/visual_tools/moveit_visual_tools_demo
/opt/ros/melodic/lib/libmoveit_visual_tools.so: undefined reference to `rviz_visual_tools::RvizVisualTools::publishSphere(Eigen::Transform<double, 3, 1, 0> const&, rviz_visual_tools::colors, rviz_visual_tools::scales, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned long)'
/opt/ros/melodic/lib/libmoveit_visual_tools.so: undefined reference to `rviz_visual_tools::RvizVisualTools::convertPose(Eigen::Transform<double, 3, 1, 0> const&)'
collect2: error: ld returned 1 exit status
ur-reaching-reinforcement-learning/visual_tools/CMakeFiles/moveit_visual_tools_demo.dir/build.make:191: recipe for target '/home/syscon/rl_ws/devel/lib/visual_tools/moveit_visual_tools_demo' failed
make[2]: *** [/home/syscon/rl_ws/devel/lib/visual_tools/moveit_visual_tools_demo] Error 1
CMakeFiles/Makefile2:7797: recipe for target 'ur-reaching-reinforcement-learning/visual_tools/CMakeFiles/moveit_visual_tools_demo.dir/all' failed
make[1]: *** [ur-reaching-reinforcement-learning/visual_tools/CMakeFiles/moveit_visual_tools_demo.dir/all] Error 2
[ 97%] Building CXX object ur-reach
Geonhee-LEE commented 3 years ago

solution: deleted ur_robotiq_moveit_api and visual_tools

Geonhee-LEE commented 3 years ago

when launching the node... 

xacro: in-order processing became default in ROS Melodic. You can drop the option.
resource not found: robotiq_85_description
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/syscon/rl_ws/src
ROS path [2]=/home/syscon/drl_ws/src
ROS path [3]=/home/syscon/catkin_ws/src
ROS path [4]=/home/syscon/sw_ws/src
ROS path [5]=/opt/ros/melodic/share
when processing file: /home/syscon/rl_ws/src/ur-reaching-reinforcement-learning/ur_robotiq_description/urdf/ur_robotiq-vel.urdf.xacro
RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '--inorder', '/home/syscon/rl_ws/src/ur-reaching-reinforcement-learning/ur_robotiq_description/urdf/ur_robotiq-vel.urdf.xacro']] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro --inorder '$(find ur_robotiq_description)/urdf/ur_robotiq-vel.urdf.xacro'" name="robot_description"/>
The traceback for the exception was written to the log file
syscon@syscon-GH:~/rl_ws$ roslaunch ur_robotiq_gazebo gym.launchroscd ur_robotiq_gazebo
RLException: [gym.launchroscd] is neither a launch file in package [ur_robotiq_gazebo] nor is [ur_robotiq_gazebo] a launch file name
The traceback for the exception was written to the log file
Geonhee-LEE commented 3 years ago

After commented for gripper and kinect of URDF, when launched the roslaunch ur_robotiq_gazebo gym.launch

setting /run_id to 3ae96614-d3dc-11eb-a88b-705dccf2688f
process[rosout-1]: started with pid [24461]
started core service [/rosout]
process[gazebo-2]: started with pid [24514]
process[gazebo_gui-3]: started with pid [24522]
process[spawn_gazebo_model-4]: started with pid [24527]
process[robot_state_publisher-5]: started with pid [24528]
process[fake_joint_calibration-6]: started with pid [24529]
process[joint_state_controller_spawner-7]: started with pid [24546]
process[spawn_dropbox-8]: started with pid [24565]
process[spawn_dropbox_clone-9]: started with pid [24576]
process[spawn_short_table-10]: started with pid [24577]
process[spawn_short_table_clone-11]: started with pid [24578]
process[arm_controller_spawner-12]: started with pid [24580]
[ INFO] [1624422841.533576639]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1624422841.534703512]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1624422841.599084765]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1624422841.600089308]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
usage: spawn_model [-h] (-urdf | -sdf)
                   (-file FILE_NAME | -param PARAM_NAME | -database MODEL_NAME | -stdin)
                   -model MODEL_NAME [-reference_frame REFERENCE_FRAME]
                   [-gazebo_namespace GAZEBO_NAMESPACE]
                   [-robot_namespace ROBOT_NAMESPACE] [-unpause]
                   [-wait MODEL_NAME] [-x X] [-y Y] [-z Z] [-R R] [-P P]
                   [-Y Y] [-J JOINT_NAME JOINT_POSITION] [-package_to_model]
                   [-b]
spawn_model: error: argument -gazebo_namespace: expected one argument
usage: spawn_model [-h] (-urdf | -sdf)
                   (-file FILE_NAME | -param PARAM_NAME | -database MODEL_NAME | -stdin)
                   -model MODEL_NAME [-reference_frame REFERENCE_FRAME]
                   [-gazebo_namespace GAZEBO_NAMESPACE]
                   [-robot_namespace ROBOT_NAMESPACE] [-unpause]
                   [-wait MODEL_NAME] [-x X] [-y Y] [-z Z] [-R R] [-P P]
                   [-Y Y] [-J JOINT_NAME JOINT_POSITION] [-package_to_model]
                   [-b]
spawn_model: error: argument -gazebo_namespace: expected one argument
usage: spawn_model [-h] (-urdf | -sdf)
                   (-file FILE_NAME | -param PARAM_NAME | -database MODEL_NAME | -stdin)
                   -model MODEL_NAME [-reference_frame REFERENCE_FRAME]
                   [-gazebo_namespace GAZEBO_NAMESPACE]
                   [-robot_namespace ROBOT_NAMESPACE] [-unpause]
                   [-wait MODEL_NAME] [-x X] [-y Y] [-z Z] [-R R] [-P P]
                   [-Y Y] [-J JOINT_NAME JOINT_POSITION] [-package_to_model]
                   [-b]
spawn_model: error: argument -gazebo_namespace: expected one argument
usage: spawn_model [-h] (-urdf | -sdf)
                   (-file FILE_NAME | -param PARAM_NAME | -database MODEL_NAME | -stdin)
                   -model MODEL_NAME [-reference_frame REFERENCE_FRAME]
                   [-gazebo_namespace GAZEBO_NAMESPACE]
                   [-robot_namespace ROBOT_NAMESPACE] [-unpause]
                   [-wait MODEL_NAME] [-x X] [-y Y] [-z Z] [-R R] [-P P]
                   [-Y Y] [-J JOINT_NAME JOINT_POSITION] [-package_to_model]
                   [-b]
spawn_model: error: argument -gazebo_namespace: expected one argument
[INFO] [1624422841.832275, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1624422841.836774, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[spawn_dropbox-8] process has died [pid 24565, exit code 2, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/syscon/rl_ws/src/ur-reaching-reinforcement-learning/ur_robotiq_gazebo/worlds/dropbox.sdf -sdf -x 0 -z 0. -gazebo -model dropbox __name:=spawn_dropbox __log:=/home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_dropbox-8.log].
log file: /home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_dropbox-8*.log
[spawn_dropbox_clone-9] process has died [pid 24576, exit code 2, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/syscon/rl_ws/src/ur-reaching-reinforcement-learning/ur_robotiq_gazebo/worlds/dropbox_clone.sdf -sdf -x 0 -z 0. -gazebo -model dropbox_clone __name:=spawn_dropbox_clone __log:=/home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_dropbox_clone-9.log].
log file: /home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_dropbox_clone-9*.log
[spawn_short_table-10] process has died [pid 24577, exit code 2, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/syscon/rl_ws/src/ur-reaching-reinforcement-learning/ur_robotiq_gazebo/worlds/short_table.sdf -sdf -x 0 -z 0. -gazebo -model short_table __name:=spawn_short_table __log:=/home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_short_table-10.log].
log file: /home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_short_table-10*.log
[spawn_short_table_clone-11] process has died [pid 24578, exit code 2, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/syscon/rl_ws/src/ur-reaching-reinforcement-learning/ur_robotiq_gazebo/worlds/short_table_clone.sdf -sdf -x 0 -z 0. -gazebo -model short_table_clone __name:=spawn_short_table_clone __log:=/home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_short_table_clone-11.log].
log file: /home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_short_table_clone-11*.log
[ INFO] [1624422842.415000880]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1624422842.436112651]: Physics dynamic reconfigure ready.
[INFO] [1624422842.439804, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1624422842.706387, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1624422842.725180149]: Loading gazebo_ros_control plugin
[ INFO] [1624422842.725246285]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1624422842.726038696]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1624422842.838556700]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint
[ERROR] [1624422842.839236454]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_lift_joint
[ERROR] [1624422842.839842863]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/elbow_joint
[ERROR] [1624422842.840468992]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
[ERROR] [1624422842.841099236]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
[ERROR] [1624422842.841702635]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint
[ INFO] [1624422842.845346938]: Loaded gazebo_ros_control.
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_gazebo_model-4*.log
Loaded 'joint_state_controller'
[ERROR] [1624422843.008555686]: Could not load controller 'ur_shoulder_pan_vel_controller' because controller type 'velocity_controllers/JointVelocityController' does not exist.
[ERROR] [1624422843.008577439]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
Error when loading 'ur_shoulder_pan_vel_controller'
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
Geonhee-LEE commented 3 years ago

error: velocity_controllers/JointVelocityController' does not exist.

solution: sudo apt install ros-melodic-velocity-controllers

Geonhee-LEE commented 3 years ago

error: `hardware_interface::VelocityJointInterface' does not exist.

solution: sudo apt install ros-melodic-hardware-interface

kashifzr commented 1 year ago

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: system filesystem date_time thread CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:305 (message): catkin_package() include dir 'include' does not exist relative to '/home/rob-kkj/home/catkin_Ws/src/ur-reaching-reinforcement-learning/ur_robotiq_moveit_api' Call Stack (most recent call first): /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) ur-reaching-reinforcement-learning/ur_robotiq_moveit_api/CMakeLists.txt:30 (catkin_package)

-- Configuring incomplete, errors occurred! make: *** [Makefile:324: cmake_check_build_system] Error 1

ros: noetic ubuntu 20.04 focal Unable to understand this issue

NetpowerTechnology commented 1 year ago

启动节点时...

xacro: in-order processing became default in ROS Melodic. You can drop the option.
resource not found: robotiq_85_description
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/syscon/rl_ws/src
ROS path [2]=/home/syscon/drl_ws/src
ROS path [3]=/home/syscon/catkin_ws/src
ROS path [4]=/home/syscon/sw_ws/src
ROS path [5]=/opt/ros/melodic/share
when processing file: /home/syscon/rl_ws/src/ur-reaching-reinforcement-learning/ur_robotiq_description/urdf/ur_robotiq-vel.urdf.xacro
RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '--inorder', '/home/syscon/rl_ws/src/ur-reaching-reinforcement-learning/ur_robotiq_description/urdf/ur_robotiq-vel.urdf.xacro']] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro --inorder '$(find ur_robotiq_description)/urdf/ur_robotiq-vel.urdf.xacro'" name="robot_description"/>
The traceback for the exception was written to the log file
syscon@syscon-GH:~/rl_ws$ roslaunch ur_robotiq_gazebo gym.launchroscd ur_robotiq_gazebo
RLException: [gym.launchroscd] is neither a launch file in package [ur_robotiq_gazebo] nor is [ur_robotiq_gazebo] a launch file name
The traceback for the exception was written to the log file

Hello, what is the solution to this error? Thank you for taking time out of your busy schedule to reply.

NetpowerTechnology commented 1 year ago

在评论了URDF的抓手和kinect之后，当启动时roslaunch ur_robotiq_gazebo gym.launch

setting /run_id to 3ae96614-d3dc-11eb-a88b-705dccf2688f
process[rosout-1]: started with pid [24461]
started core service [/rosout]
process[gazebo-2]: started with pid [24514]
process[gazebo_gui-3]: started with pid [24522]
process[spawn_gazebo_model-4]: started with pid [24527]
process[robot_state_publisher-5]: started with pid [24528]
process[fake_joint_calibration-6]: started with pid [24529]
process[joint_state_controller_spawner-7]: started with pid [24546]
process[spawn_dropbox-8]: started with pid [24565]
process[spawn_dropbox_clone-9]: started with pid [24576]
process[spawn_short_table-10]: started with pid [24577]
process[spawn_short_table_clone-11]: started with pid [24578]
process[arm_controller_spawner-12]: started with pid [24580]
[ INFO] [1624422841.533576639]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1624422841.534703512]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1624422841.599084765]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1624422841.600089308]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
usage: spawn_model [-h] (-urdf | -sdf)
                   (-file FILE_NAME | -param PARAM_NAME | -database MODEL_NAME | -stdin)
                   -model MODEL_NAME [-reference_frame REFERENCE_FRAME]
                   [-gazebo_namespace GAZEBO_NAMESPACE]
                   [-robot_namespace ROBOT_NAMESPACE] [-unpause]
                   [-wait MODEL_NAME] [-x X] [-y Y] [-z Z] [-R R] [-P P]
                   [-Y Y] [-J JOINT_NAME JOINT_POSITION] [-package_to_model]
                   [-b]
spawn_model: error: argument -gazebo_namespace: expected one argument
usage: spawn_model [-h] (-urdf | -sdf)
                   (-file FILE_NAME | -param PARAM_NAME | -database MODEL_NAME | -stdin)
                   -model MODEL_NAME [-reference_frame REFERENCE_FRAME]
                   [-gazebo_namespace GAZEBO_NAMESPACE]
                   [-robot_namespace ROBOT_NAMESPACE] [-unpause]
                   [-wait MODEL_NAME] [-x X] [-y Y] [-z Z] [-R R] [-P P]
                   [-Y Y] [-J JOINT_NAME JOINT_POSITION] [-package_to_model]
                   [-b]
spawn_model: error: argument -gazebo_namespace: expected one argument
usage: spawn_model [-h] (-urdf | -sdf)
                   (-file FILE_NAME | -param PARAM_NAME | -database MODEL_NAME | -stdin)
                   -model MODEL_NAME [-reference_frame REFERENCE_FRAME]
                   [-gazebo_namespace GAZEBO_NAMESPACE]
                   [-robot_namespace ROBOT_NAMESPACE] [-unpause]
                   [-wait MODEL_NAME] [-x X] [-y Y] [-z Z] [-R R] [-P P]
                   [-Y Y] [-J JOINT_NAME JOINT_POSITION] [-package_to_model]
                   [-b]
spawn_model: error: argument -gazebo_namespace: expected one argument
usage: spawn_model [-h] (-urdf | -sdf)
                   (-file FILE_NAME | -param PARAM_NAME | -database MODEL_NAME | -stdin)
                   -model MODEL_NAME [-reference_frame REFERENCE_FRAME]
                   [-gazebo_namespace GAZEBO_NAMESPACE]
                   [-robot_namespace ROBOT_NAMESPACE] [-unpause]
                   [-wait MODEL_NAME] [-x X] [-y Y] [-z Z] [-R R] [-P P]
                   [-Y Y] [-J JOINT_NAME JOINT_POSITION] [-package_to_model]
                   [-b]
spawn_model: error: argument -gazebo_namespace: expected one argument
[INFO] [1624422841.832275, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1624422841.836774, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[spawn_dropbox-8] process has died [pid 24565, exit code 2, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/syscon/rl_ws/src/ur-reaching-reinforcement-learning/ur_robotiq_gazebo/worlds/dropbox.sdf -sdf -x 0 -z 0. -gazebo -model dropbox __name:=spawn_dropbox __log:=/home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_dropbox-8.log].
log file: /home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_dropbox-8*.log
[spawn_dropbox_clone-9] process has died [pid 24576, exit code 2, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/syscon/rl_ws/src/ur-reaching-reinforcement-learning/ur_robotiq_gazebo/worlds/dropbox_clone.sdf -sdf -x 0 -z 0. -gazebo -model dropbox_clone __name:=spawn_dropbox_clone __log:=/home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_dropbox_clone-9.log].
log file: /home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_dropbox_clone-9*.log
[spawn_short_table-10] process has died [pid 24577, exit code 2, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/syscon/rl_ws/src/ur-reaching-reinforcement-learning/ur_robotiq_gazebo/worlds/short_table.sdf -sdf -x 0 -z 0. -gazebo -model short_table __name:=spawn_short_table __log:=/home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_short_table-10.log].
log file: /home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_short_table-10*.log
[spawn_short_table_clone-11] process has died [pid 24578, exit code 2, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/syscon/rl_ws/src/ur-reaching-reinforcement-learning/ur_robotiq_gazebo/worlds/short_table_clone.sdf -sdf -x 0 -z 0. -gazebo -model short_table_clone __name:=spawn_short_table_clone __log:=/home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_short_table_clone-11.log].
log file: /home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_short_table_clone-11*.log
[ INFO] [1624422842.415000880]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1624422842.436112651]: Physics dynamic reconfigure ready.
[INFO] [1624422842.439804, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1624422842.706387, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1624422842.725180149]: Loading gazebo_ros_control plugin
[ INFO] [1624422842.725246285]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1624422842.726038696]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1624422842.838556700]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_pan_joint
[ERROR] [1624422842.839236454]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/shoulder_lift_joint
[ERROR] [1624422842.839842863]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/elbow_joint
[ERROR] [1624422842.840468992]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_1_joint
[ERROR] [1624422842.841099236]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_2_joint
[ERROR] [1624422842.841702635]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/wrist_3_joint
[ INFO] [1624422842.845346938]: Loaded gazebo_ros_control.
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/syscon/.ros/log/3ae96614-d3dc-11eb-a88b-705dccf2688f/spawn_gazebo_model-4*.log
Loaded 'joint_state_controller'
[ERROR] [1624422843.008555686]: Could not load controller 'ur_shoulder_pan_vel_controller' because controller type 'velocity_controllers/JointVelocityController' does not exist.
[ERROR] [1624422843.008577439]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
Error when loading 'ur_shoulder_pan_vel_controller'
[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'

Hello, how do I fix this error? Looking forward to your reply.