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justagist / panda_simulator

A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Apache License 2.0
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ImportError: No module named quaternion [joint_trajectory_server_emulator-11] process has died #37

Closed upuphero closed 3 years ago

upuphero commented 3 years ago

I am facing another problem that when I run the command roslaunch panda_gazebo panda_world.launch , the terminal will report ImportError: No module named quaternion [joint_trajectory_server_emulator-11] process has died [pid 15370, exit code 1, cmd /home/ye/finalyearproject/src/panda_simulator/panda_sim_custom_action_server/scripts/start_joint_trajectory_server.py __name:=joint_trajectory_server_emulator __log:=/home/ye/.ros/log/ec2ff2f2-9d96-11eb-9889-000c294926c2/joint_trajectory_server_emulator-11.log]. log file: /home/ye/.ros/log/ec2ff2f2-9d96-11eb-9889-000c294926c2/joint_trajectory_server_emulator-11*.log

When I run the command roslaunch panda_simulator_examples demo_moveit.launch, it will report [rviz_ubuntu_14368_8967066934926071941-15] process has died [pid 14434, exit code 127, cmd /opt/ros/melodic/lib/rviz/rviz -d /home/ye/finalyearproject/src/franka_ros_interface/franka_moveit/config/moveit_demo.rviz __name:=rviz_ubuntu_14368_8967066934926071941 __log:=/home/ye/.ros/log/6bd8cce6-9d96-11eb-9889-000c294926c2/rviz_ubuntu_14368_8967066934926071941-15.log]. log file: /home/ye/.ros/log/6bd8cce6-9d96-11eb-9889-000c294926c2/rviz_ubuntu_14368_8967066934926071941-15*.log and the window of rviz disappeared as soon as it appears. Now I could see the robot model in gazebo but I could not do anything

I have catkin build all the workspace and it succeeded. But there is three ignored packages. Maybe the building of franka_ros_interface is wrong but it doesn't tell anything from catkin build

`ye@ubuntu:~/finalyearproject$ catkin build

Profile: default Extending: [cached] /opt/ros/melodic Workspace: /home/ye/finalyearproject

Build Space: [exists] /home/ye/finalyearproject/build Devel Space: [exists] /home/ye/finalyearproject/devel Install Space: [unused] /home/ye/finalyearproject/install Log Space: [exists] /home/ye/finalyearproject/logs Source Space: [exists] /home/ye/finalyearproject/src DESTDIR: [unused] None

Devel Space Layout: linked Install Space Layout: None

Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False

Whitelisted Packages: None Blacklisted Packages: None

Workspace configuration appears valid.

[build] Found '22' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> communication
Starting >>> franka_core_msgs
Starting >>> franka_moveit
Starting >>> franka_panda_description
Starting >>> fyp
Starting >>> orocos_kdl
Finished <<< fyp [ 0.1 seconds ]
Starting >>> panda_hardware_interface
Finished <<< franka_panda_description [ 0.1 seconds ]
Starting >>> panda_sim_moveit
Finished <<< panda_hardware_interface [ 0.1 seconds ]
Starting >>> push
Finished <<< orocos_kdl [ 0.2 seconds ]
Finished <<< panda_sim_moveit [ 0.1 seconds ]
Finished <<< communication [ 0.5 seconds ]
Starting >>> turtlebot3_fake
Starting >>> turtlebot3_gazebo
Starting >>> python_orocos_kdl
Finished <<< push [ 0.1 seconds ]
Finished <<< python_orocos_kdl [ 0.1 seconds ]
Finished <<< franka_moveit [ 0.9 seconds ]
Finished <<< turtlebot3_fake [ 0.4 seconds ]
Finished <<< turtlebot3_gazebo [ 0.5 seconds ]
Finished <<< franka_core_msgs [ 1.6 seconds ]
Starting >>> franka_interface
Starting >>> franka_ros_controllers
Starting >>> panda_sim_controllers
Finished <<< panda_sim_controllers [ 7.2 seconds ]
Finished <<< franka_ros_controllers [ 15.4 seconds ]
Finished <<< franka_interface [ 20.1 seconds ]
Starting >>> franka_tools
Starting >>> panda_sim_custom_action_server
Finished <<< panda_sim_custom_action_server [ 0.1 seconds ]
Finished <<< franka_tools [ 1.1 seconds ]
Starting >>> panda_gazebo
Finished <<< panda_gazebo [ 8.5 seconds ]
Starting >>> panda_simulator_examples
Finished <<< panda_simulator_examples [ 0.1 seconds ]
[build] Summary: All 19 packages succeeded!
[build] Ignored: 3 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 31.7 seconds total.`

justagist commented 3 years ago

the terminal will report ImportError: No module named quaternion [joint_trajectory_server_emulator-11] process has died [pid 15370, exit code 1

This looks like you haven't installed the quaternion package. Please follow the installation instructions carefully: pip install numpy numpy-quaternion (you may need sudo). Also, make sure you start the moveit server before running the moveit demo (follow instructions in the README for running the demo).

CodeFinder2 commented 3 years ago

[...] This looks like you haven't installed the quaternion package. Please follow the installation instructions carefully: pip install numpy numpy-quaternion (you may need sudo). Also, make sure you start the moveit server before running the moveit demo (follow instructions in the README for running the demo).

The problem with this is: numpy also gets installed as a system package along with various ROS (system) packages. Installing it with pip(3) and using sudo is definitely not a good idea.

Only installing numpy-quaternion via pip (pip3 install --user numpy-quaternion because there is no system package available for Noetic / Ubuntu 20.04) causes this error:

RuntimeError: module compiled against API version 0xe but this version of numpy is 0xd
Traceback (most recent call last):
  File "/hidden/catkin_ws/devel/lib/panda_sim_custom_action_server/start_gripper_action_server.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/hidden/catkin_ws/src/panda_simulator/panda_sim_custom_action_server/scripts/start_gripper_action_server.py", line 31, in <module>
    from panda_sim_custom_action_server import GripperActionServer
  File "/hidden/catkin_ws/devel/lib/python3/dist-packages/panda_sim_custom_action_server/__init__.py", line 34, in <module>
    exec(__fh.read())
  File "<string>", line 18, in <module>
  File "/hidden/catkin_ws/src/panda_simulator/panda_sim_custom_action_server/src/panda_sim_custom_action_server/joint_trajectory_action_server.py", line 56, in <module>
    import franka_interface
  File "/hidden/catkin_ws/src/franka_ros_interface/franka_interface/src/franka_interface/__init__.py", line 18, in <module>
    from .arm import ArmInterface
  File "/hidden/catkin_ws/src/franka_ros_interface/franka_interface/src/franka_interface/arm.py", line 39, in <module>
    import quaternion
  File "/home/abo/.local/lib/python3.8/site-packages/quaternion/__init__.py", line 25, in <module>
    from .numpy_quaternion import (
ImportError: numpy.core.multiarray failed to import

I think this is caused by the fact that the system comes with a numpy version that is different from the one that is being used by numpy-quaternion (but not 100% sure).

~Any better ideas? (I am having the same / a very similiar problem...)~

Edit: okay, fixed this with:

sudo apt install python-is-python3 python3-pip python3-numpy # just to be sure all deps are avail wrt. to this problem/issue
python -m pip install --user numpy-quaternion
# Optionally: python -m pip install --user numba scipy
python -m pip install numpy --upgrade --user
justagist commented 3 years ago

Hi @CodeFinder2, thanks for this!

I agree that using sudo is probably not safe for pip commands, but quaternion and numpy are pretty standard packages and I would assume they would be safe to install using sudo. But you'd be right if you say this is not a safe assumption.

I think this is caused by the fact that the system comes with a numpy version that is different from the one that is being used by numpy-quaternion (but not 100% sure).

Yes, I would have come to the same conclusion, and would have suggested upgrading the installed numpy package and trying to install quaternion again, as you have done.

Thanks anyway for your detailed solution. Did you have to install python-is-python3 package to solve this issue, or was this only to be safe?

CodeFinder2 commented 3 years ago

python-is-python3 is not necessary. Calling python3 explicitly would work as well. 🙂