No hardcoded launch file paths

[bheijden]

Also removed the default argument in pybullet.launch en webots.launch as we must force people to specify a name in RosEnv that is consistent with the namespace in the physics_bridge launch files. In this way, the argument can only come from RosEnv.

[bheijden]

Op mijn computer werkt dynamic_example.py wel maar bij example.py krijg ik de onderstaande error. Werkt example.py bij jou wel? Iets met list index out of range en de load_yaml function. Wil weten of dit alleenop mijn computer een probleem is.

process[ros_env/physics_bridge-1]: started with pid [10148]
... logging to /home/bas/.ros/log/0d3bc984-b8af-11eb-9be2-ac675d3b5380/roslaunch-bas-Alienware-m15-R2-10148.log
started roslaunch server http://192.168.68.113:36329/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10

NODES
  /ros_env/
    webots (webots_ros/webots_launcher.py)

ROS_MASTER_URI=http://localhost:11311
process[ros_env/webots-1]: started with pid [10169]
[ERROR] [1621435068.880005]: Error processing request: list index out of range
['Traceback (most recent call last):\n', '  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 632, in _handle_request\n    response = convert_return_to_response(self.handler(request), self.response_class)\n', '  File "/home/bas/ros_gym_ws/src/ros-gym/ros_gym_core/src/ros_gym_core/physics_bridge.py", line 37, in __register_handler\n    params = load_yaml(object_type[0], object_type[1])\n', 'IndexError: list index out of range\n']
Traceback (most recent call last):
  File "/home/bas/ros_gym_ws/src/ros-gym/examples/ur5e_example/scripts/example.py", line 26, in <module>
    env = Flatten(RosEnv(robots=[UR5e("ur5e1")], name='ros_env', engine_params=wb_params))
  File "/home/bas/ros_gym_ws/src/ros-gym/ros_gym_core/src/ros_gym_core/ros_env.py", line 96, in __init__
    self._init_nodes(self.robots, self.sensors, self.observers)
  File "/home/bas/ros_gym_ws/src/ros-gym/ros_gym_core/src/ros_gym_core/ros_env.py", line 25, in _init_nodes
    self._register_objects(robots, sensors, observers)
  File "/home/bas/ros_gym_ws/src/ros-gym/ros_gym_core/src/ros_gym_core/ros_env.py", line 37, in _register_objects
    register_service(objects)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 442, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 522, in call
    responses = transport.receive_once()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 735, in receive_once
    p.read_messages(b, msg_queue, sock) 
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 360, in read_messages
    self._read_ok_byte(b, sock)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 343, in _read_ok_byte
    raise ServiceException("service [%s] responded with an error: %s"%(self.resolved_name, str))
rospy.service.ServiceException: service [/ros_env/register] responded with an error: b'error processing request: list index out of range'
[ros_env/physics_bridge-1] killing on exit
[ros_env/webots-1] killing on exit
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/webots_ros/webots_launcher.py", line 40, in <module>
    subprocess.call(command)
  File "/usr/lib/python2.7/subprocess.py", line 172, in call
    return Popen(*popenargs, **kwargs).wait()
  File "/usr/lib/python2.7/subprocess.py", line 1099, in wait
    pid, sts = _eintr_retry_call(os.waitpid, self.pid, 0)
  File "/usr/lib/python2.7/subprocess.py", line 125, in _eintr_retry_call
    return func(*args)
KeyboardInterrupt
[ur5e_example-1] process has died [pid 10122, exit code 1, cmd /home/bas/ros_gym_ws/src/ros-gym/examples/ur5e_example/scripts/example.py __name:=ur5e_example __log:=/home/bas/.ros/log/0d3bc984-b8af-11eb-9be2-ac675d3b5380/ur5e_example-1.log].
log file: /home/bas/.ros/log/0d3bc984-b8af-11eb-9be2-ac675d3b5380/ur5e_example-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done````

[AlexanderKeijzer]

Ah, dat heeft wss te maken met mijn veranderingen (example.py gebuirkt nog de UR5e class uit de aparte package). Ik zal er wel effe naar kijken. PR is goed!