Cannot run random_agent_sim

[psFournier]

Hello again!

roslaunch mir100_robot_server sim_robot_server.launch gui:=true works fine with my install, but for some reason, python3 docs/examples/random_agent_sim.py cannot start a new Robot Server.

Precisely, checking the roslaunch log with tmux -L ServerManager a -t 44313 with 44313 being the port found by the add_rl_server, I get:

process[master]: started with pid [2066080]
ROS_MASTER_URI=http://localhost:38063

setting /run_id to a38e3900-fea3-11eb-9901-f1490f2031de
process[rosout-1]: started with pid [2066090]
started core service [/rosout]
process[gazebo-2]: started with pid [2066098]
/opt/ros/noetic/lib/gazebo_ros/gzserver: 1: catkin_find: not found /opt/ros/noetic/lib/gazebo_ros/gzserver: 1: catkin_find: not found
process[spawn_urdf-3]: started with pid [2066106]
process[controller_spawner-4]: started with pid [2066120]
process[ekf_localization_node-5]: started with pid [2066136]
process[joint_state_publisher-6]: started with pid [2066143]
process[robot_state_publisher-7]: started with pid [2066145]
process[b_scan_relay-8]: started with pid [2066150]
process[f_scan_relay-9]: started with pid [2066152]
process[b_rep117_laser_filter-10]: started with pid [2066161]
process[f_rep117_laser_filter-11]: started with pid [2066164] process[fake_localization-12]: started with pid [2066169]
process[robot_pose_publisher-13]: started with pid [2066170]
process[cmd_vel_command_handler-14]: started with pid [2066173] process[rviz_qdtis056z_2066067_7750190536441384180-15]: started with pid [2066178] process[robot_server-16]: started with pid [2066180]
[ INFO] [1629126435.751530965]: rviz version 1.14.8
[ INFO] [1629126435.751569966]: compiled against Qt version 5.12.8
[ INFO] [1629126435.751580032]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1629126435.768650157]: Forcing OpenGl version 0.
*[INFO] [1629126435.783113, 0.000000]: Controller Spawner: Waiting for service controller_manager/load _controller
Error. Invalid arguments
[gazebo-2] process has died [pid 2066098, exit code 255, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -e ode /d/pfournie/Documents/paradis/robo-gym-ws/src/robo-gym-robot-servers/mir100_robot_server/world s/empty_world_target.world joint_states:=mir/joint_states mobile_base_controller/cmd_vel:=cmd_vel mob ile_base_controller/odom:=odom_comb name:=gazebo log:=/d/pfournie/.ros/log/a38e3900-fea3-11eb-990 1-f1490f2031de/gazebo-2.log].
log file: /d/pfournie/.ros/log/a38e3900-fea3-11eb-9901-f1490f2031de/gazebo-2.log*
[INFO] [1629126436.102571, 0.000000]: Waiting 10s before starting initialization of robot_server
[ INFO] [1629126436.346782946]: Stereo is NOT SUPPORTED
[ INFO] [1629126436.346824328]: OpenGL device: NVIDIA GeForce RTX 2080 SUPER/PCIe/SSE2 [ INFO] [1629126436.346842031]: OpenGl version: 4,6 (GLSL 4,6).
[WARN] [1629126466.009456, 0.000000]: Controller Spawner couldn't find the expected controller_manage r ROS interface.
[controller_spawner-4] process has finished cleanly
log file: /d/pfournie/.ros/log/a38e3900-fea3-11eb-9901-f1490f2031de/controller_spawner-4.log

For some other reason, I can't find any file with the log from the gazebo-2 process...

Once again, this problem pops up on one of my two machines only if it can help...

Thank you in advance !

[psFournier]

If it can be of any help, the failing command launches rviz with this result:

[matteolucchi]

Hello @psFournier !

I am a bit out ideas here, especially because you mentioned that running roslaunch mir100_robot_server sim_robot_server.launch gui:=true works fine. Is it possible that you are running the 2 test cases in 2 different python virtual environments?

When running roslaunch mir100_robot_server sim_robot_server.launch gui:=true manually, is the robot visualised correctly?

[psFournier]

Hello, I just found the solution: once again, the culprit was something specific to the computer on which the issue appeared (some line in my bashrc I don't remember having put myself was messing with the PATH env variable in tmux sessions)... I am slowly discovering ros, tmux and grpc , i can say it's not always easy to pinpoint the nature and origin of bugs :D I sincerely hope I did not make you search too long for this non-reproducible issue... Thank you for your time !

[matteolucchi]

some line in my bashrc I don't remember having put myself was messing with the PATH env variable in tmux sessions

Yes that makes sense :)

i can say it's not always easy to pinpoint the nature and origin of bugs

Yes unfortunately that is the case, but we are slowly trying to improve that :)

I sincerely hope I did not make you search too long for this non-reproducible issue...

No worries, I am glad that the issue is fixed now :)