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qqianfeng / grasp-pipeline

Offers server-client functionality for grasping with the Hithand in simulation and real.
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error in bps encoding #4

Closed qqianfeng closed 2 years ago

qqianfeng commented 2 years ago

Error:

/home/vm/.ros
Traceback (most recent call last):
  File "encode_pcd_with_bps.py", line 7, in <module>
    import rospy
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/__init__.py", line 49, in <module>
    from .client import spin, myargv, init_node, \
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/client.py", line 52, in <module>
    import roslib
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/__init__.py", line 50, in <module>
    from roslib.launcher import load_manifest  # noqa: F401
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 42, in <module>
    import rospkg
ModuleNotFoundError: No module named 'rospkg'

Reason

New dependency of rospy in encode_pcd_with_bps.py, It's missing package in python3.

Found online solution but didn't work

https://answers.ros.org/question/245967/importerror-no-module-named-rospkg-python3-solved/ Because by installed this apt package, it will remove all ros melodic package.

vm@ar-lx0012:~$ sudo apt-get install python3-catkin-pkg
[sudo] password for vm: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following packages were automatically installed and are no longer required:
  chemical-mime-data cython gazebo9 gazebo9-common gazebo9-plugin-base gir1.2-gtk-2.0 google-mock googletest
  hddtemp lib3ds-1-3 libapr1-dev libaprutil1-dev libarmadillo-dev libarpack2-dev libassuan-dev libbz2-dev
  libcoin80v5 libdap-dev libdapserver7v5 libdc1394-22-dev libepsilon-dev libexif-dev libexif-doc libfreexl-dev
  libfyba-dev libgazebo9 libgazebo9-dev libgdal-dev libgdcm2-dev libgeos-dev libgeotiff-dev libgif-dev
  libgl2ps1.4 libglew-dev libgpg-error-dev libgpgme-dev libgphoto2-dev libgtest-dev libgtk2.0-dev
  libhdf5-openmpi-100 libilmbase-dev libjbig-dev libjs-jquery-ui libjson-c-dev libkml-dev libkmlconvenience1
  libkmlregionator1 libkmlxsd1 liblept5 liblog4cxx-dev liblog4cxx10v5 liblz4-dev liblzma-dev libminizip-dev
  libmuparser2v5 libnetcdf-c++4 libnlopt-dev libnlopt0 liboce-foundation11 liboce-modeling11 liboce-ocaf-lite11
  liboce-ocaf11 liboce-visualization11 libogdi3.2-dev libomp-dev libomp5 libopenctm1 libopencv-calib3d-dev
  libopencv-calib3d3.2 libopencv-contrib-dev libopencv-contrib3.2 libopencv-core-dev libopencv-dev
  libopencv-features2d-dev libopencv-features2d3.2 libopencv-flann-dev libopencv-flann3.2 libopencv-highgui-dev
  libopencv-imgcodecs-dev libopencv-imgproc-dev libopencv-ml-dev libopencv-objdetect-dev libopencv-photo-dev
  libopencv-photo3.2 libopencv-shape-dev libopencv-shape3.2 libopencv-stitching-dev libopencv-stitching3.2
  libopencv-superres-dev libopencv-superres3.2 libopencv-ts-dev libopencv-video-dev libopencv-videoio-dev
  libopencv-videostab-dev libopencv-videostab3.2 libopencv-viz-dev libopencv-viz3.2 libopencv3.2-java
  libopencv3.2-jni libopenexr-dev libopenjp2-7-dev libphonon4 libpoppler-dev libpoppler-private-dev libproj-dev
  libpyside1.2 libqhull-dev libqhull-r7 libqt4-designer libqt4-help libqt4-opengl libqt4-scripttools libqt4-svg
  libqt4-test libqt5help5 libqt5x11extras5-dev libqtassistantclient4 libqtwebkit4 libraw1394-dev libraw1394-tools
  libsctp-dev libsctp1 libshiboken1.2v5 libsoqt4-20 libspatialite-dev libsuperlu-dev libtesseract4 libtiff-dev
  libtiff5-dev libtiffxx5 liburdfdom-tools liburiparser-dev libusb-1.0-0-dev libusb-1.0-doc libvtk6.3 libwebp-dev
  libwxbase3.0-0v5 libwxgtk3.0-gtk3-0v5 libxerces-c-dev libxml2-utils libyaml-cpp-dev libzipios++0v5
  linux-hwe-5.4-headers-5.4.0-42 linux-hwe-5.4-headers-5.4.0-60 linux-hwe-5.4-headers-5.4.0-62
  linux-hwe-5.4-headers-5.4.0-65 linux-hwe-5.4-headers-5.4.0-66 linux-hwe-5.4-headers-5.4.0-67
  linux-hwe-5.4-headers-5.4.0-70 linux-hwe-5.4-headers-5.4.0-71 linux-hwe-5.4-headers-5.4.0-72
  linux-hwe-5.4-headers-5.4.0-73 phonon phonon-backend-gstreamer phonon-backend-gstreamer-common pyqt5-dev
  pyside-tools python-attr python-autobahn python-automat python-backports-abc
  python-backports.functools-lru-cache python-backports.ssl-match-hostname python-bson python-bson-ext
  python-catkin-pkg-modules python-cbor python-click python-collada python-colorama python-concurrent.futures
  python-constantly python-cycler python-defusedxml python-empy python-gnupg python-hyperlink python-incremental
  python-lz4 python-matplotlib python-matplotlib-data python-nacl python-netifaces python-opencv python-opengl
  python-osrf-pycommon python-pam python-pivy python-ply python-pyasn1-modules python-pyassimp
  python-pycryptodome python-pydot python-pyparsing python-pyqt5 python-pyqt5.qtopengl python-pyqt5.qtsvg
  python-pyqt5.qtwebkit python-pyside python-pyside.phonon python-pyside.qtcore python-pyside.qtdeclarative
  python-pyside.qtgui python-pyside.qthelp python-pyside.qtnetwork python-pyside.qtopengl python-pyside.qtscript
  python-pyside.qtsql python-pyside.qtsvg python-pyside.qttest python-pyside.qtuitools python-pyside.qtwebkit
  python-pyside.qtxml python-qrcode python-qt4 python-qt4-gl python-rosdistro python-rosdistro-modules
  python-rospkg python-rospkg-modules python-serial python-service-identity python-singledispatch python-sip
  python-sip-dev python-snappy python-subprocess32 python-tornado python-trie python-trollius python-twisted
  python-twisted-bin python-twisted-core python-txaio python-tz python-u-msgpack python-ubjson python-wsaccel
  python-wxgtk3.0 python-wxtools python-wxversion ros-melodic-angles ros-melodic-class-loader
  ros-melodic-cmake-modules ros-melodic-cpp-common ros-melodic-eigen-stl-containers ros-melodic-gazebo-dev
  ros-melodic-gl-dependency ros-melodic-librealsense2 ros-melodic-media-export ros-melodic-ompl
  ros-melodic-qwt-dependency ros-melodic-random-numbers ros-melodic-ros-environment
  ros-melodic-rosbag-migration-rule ros-melodic-rosboost-cfg ros-melodic-rosclean ros-melodic-roscpp-core
  ros-melodic-roscpp-serialization ros-melodic-roscpp-traits ros-melodic-rosgraph ros-melodic-roslint
  ros-melodic-roslz4 ros-melodic-rosmaster ros-melodic-rosparam ros-melodic-rostime ros-melodic-smach
  ros-melodic-smclib ros-melodic-urdf-parser-plugin ros-melodic-webkit-dependency ros-melodic-xmlrpcpp sbcl
  sip-dev ttf-dejavu-core
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed:
  python3-catkin-pkg-modules python3-docutils python3-pyparsing python3-roman
Suggested packages:
  fonts-linuxlibertine | ttf-linux-libertine texlive-lang-french python-pyparsing-doc
The following packages will be REMOVED:
  python-catkin-pkg python-catkin-tools python-rosdep python-rosdep-modules python-rosinstall
  python-rosinstall-generator ros-melodic-actionlib ros-melodic-actionlib-msgs ros-melodic-actionlib-tutorials
  ros-melodic-bond ros-melodic-bond-core ros-melodic-bondcpp ros-melodic-bondpy ros-melodic-camera-calibration
  ros-melodic-camera-calibration-parsers ros-melodic-camera-info-manager ros-melodic-catkin
  ros-melodic-chomp-motion-planner ros-melodic-combined-robot-hw ros-melodic-common-msgs
  ros-melodic-common-tutorials ros-melodic-control-msgs ros-melodic-control-toolbox
  ros-melodic-controller-interface ros-melodic-controller-manager ros-melodic-controller-manager-msgs
  ros-melodic-cv-bridge ros-melodic-ddynamic-reconfigure ros-melodic-depth-image-proc ros-melodic-desktop
  ros-melodic-diagnostic-aggregator ros-melodic-diagnostic-analysis ros-melodic-diagnostic-common-diagnostics
  ros-melodic-diagnostic-msgs ros-melodic-diagnostic-updater ros-melodic-diagnostics
  ros-melodic-dynamic-reconfigure ros-melodic-effort-controllers ros-melodic-eigen-conversions
  ros-melodic-eigenpy ros-melodic-executive-smach ros-melodic-filters ros-melodic-forward-command-controller
  ros-melodic-franka-control ros-melodic-franka-description ros-melodic-franka-example-controllers
  ros-melodic-franka-gripper ros-melodic-franka-hw ros-melodic-franka-msgs ros-melodic-franka-ros
  ros-melodic-franka-visualization ros-melodic-gazebo-msgs ros-melodic-gazebo-ros ros-melodic-gazebo-ros-control
  ros-melodic-gencpp ros-melodic-geneus ros-melodic-genlisp ros-melodic-genmsg ros-melodic-gennodejs
  ros-melodic-genpy ros-melodic-geometric-shapes ros-melodic-geometry ros-melodic-geometry-msgs
  ros-melodic-geometry-tutorials ros-melodic-graph-msgs ros-melodic-hardware-interface ros-melodic-image-geometry
  ros-melodic-image-pipeline ros-melodic-image-proc ros-melodic-image-publisher ros-melodic-image-rotate
  ros-melodic-image-transport ros-melodic-image-view ros-melodic-interactive-marker-tutorials
  ros-melodic-interactive-markers ros-melodic-joint-limits-interface ros-melodic-joint-state-controller
  ros-melodic-joint-state-publisher ros-melodic-joint-state-publisher-gui ros-melodic-kdl-conversions
  ros-melodic-kdl-parser ros-melodic-kdl-parser-py ros-melodic-laser-geometry ros-melodic-libfranka
  ros-melodic-librviz-tutorial ros-melodic-map-msgs ros-melodic-message-filters ros-melodic-message-generation
  ros-melodic-message-runtime ros-melodic-mk ros-melodic-moveit ros-melodic-moveit-commander
  ros-melodic-moveit-core ros-melodic-moveit-fake-controller-manager ros-melodic-moveit-kinematics
  ros-melodic-moveit-msgs ros-melodic-moveit-planners ros-melodic-moveit-planners-chomp
  ros-melodic-moveit-planners-ompl ros-melodic-moveit-plugins ros-melodic-moveit-ros
  ros-melodic-moveit-ros-benchmarks ros-melodic-moveit-ros-control-interface ros-melodic-moveit-ros-manipulation
  ros-melodic-moveit-ros-move-group ros-melodic-moveit-ros-occupancy-map-monitor
  ros-melodic-moveit-ros-perception ros-melodic-moveit-ros-planning ros-melodic-moveit-ros-planning-interface
  ros-melodic-moveit-ros-robot-interaction ros-melodic-moveit-ros-visualization ros-melodic-moveit-ros-warehouse
  ros-melodic-moveit-setup-assistant ros-melodic-moveit-simple-controller-manager ros-melodic-moveit-visual-tools
  ros-melodic-nav-msgs ros-melodic-nodelet ros-melodic-nodelet-core ros-melodic-nodelet-topic-tools
  ros-melodic-nodelet-tutorial-math ros-melodic-object-recognition-msgs ros-melodic-octomap
  ros-melodic-octomap-msgs ros-melodic-orocos-kdl ros-melodic-panda-moveit-config ros-melodic-pluginlib
  ros-melodic-pluginlib-tutorials ros-melodic-position-controllers ros-melodic-python-orocos-kdl
  ros-melodic-python-qt-binding ros-melodic-qt-dotgraph ros-melodic-qt-gui ros-melodic-qt-gui-cpp
  ros-melodic-qt-gui-py-common ros-melodic-realsense2-camera ros-melodic-realtime-tools
  ros-melodic-resource-retriever ros-melodic-robot ros-melodic-robot-state-publisher ros-melodic-ros
  ros-melodic-ros-base ros-melodic-ros-comm ros-melodic-ros-control ros-melodic-ros-core ros-melodic-ros-numpy
  ros-melodic-ros-tutorials ros-melodic-rosapi ros-melodic-rosauth ros-melodic-rosbag ros-melodic-rosbag-storage
  ros-melodic-rosbash ros-melodic-rosbridge-library ros-melodic-rosbridge-msgs ros-melodic-rosbridge-server
  ros-melodic-rosbuild ros-melodic-rosconsole ros-melodic-rosconsole-bridge ros-melodic-roscpp
  ros-melodic-roscpp-tutorials ros-melodic-roscreate ros-melodic-rosgraph-msgs ros-melodic-roslang
  ros-melodic-roslaunch ros-melodic-roslib ros-melodic-roslisp ros-melodic-rosmake ros-melodic-rosmsg
  ros-melodic-rosnode ros-melodic-rosout ros-melodic-rospack ros-melodic-rospy
  ros-melodic-rospy-message-converter ros-melodic-rospy-tutorials ros-melodic-rosservice ros-melodic-rostest
  ros-melodic-rostopic ros-melodic-rosunit ros-melodic-roswtf ros-melodic-rqt-action ros-melodic-rqt-bag
  ros-melodic-rqt-bag-plugins ros-melodic-rqt-common-plugins ros-melodic-rqt-console ros-melodic-rqt-dep
  ros-melodic-rqt-ez-publisher ros-melodic-rqt-graph ros-melodic-rqt-gui ros-melodic-rqt-gui-cpp
  ros-melodic-rqt-gui-py ros-melodic-rqt-image-view ros-melodic-rqt-launch ros-melodic-rqt-logger-level
  ros-melodic-rqt-moveit ros-melodic-rqt-msg ros-melodic-rqt-nav-view ros-melodic-rqt-plot
  ros-melodic-rqt-pose-view ros-melodic-rqt-publisher ros-melodic-rqt-py-common ros-melodic-rqt-py-console
  ros-melodic-rqt-reconfigure ros-melodic-rqt-robot-dashboard ros-melodic-rqt-robot-monitor
  ros-melodic-rqt-robot-plugins ros-melodic-rqt-robot-steering ros-melodic-rqt-runtime-monitor
  ros-melodic-rqt-rviz ros-melodic-rqt-service-caller ros-melodic-rqt-shell ros-melodic-rqt-srv
  ros-melodic-rqt-tf-tree ros-melodic-rqt-top ros-melodic-rqt-topic ros-melodic-rqt-web ros-melodic-rviz
  ros-melodic-rviz-plugin-tutorials ros-melodic-rviz-python-tutorial ros-melodic-rviz-visual-tools
  ros-melodic-self-test ros-melodic-sensor-msgs ros-melodic-shape-msgs ros-melodic-smach-msgs
  ros-melodic-smach-ros ros-melodic-srdfdom ros-melodic-std-msgs ros-melodic-std-srvs
  ros-melodic-stereo-image-proc ros-melodic-stereo-msgs ros-melodic-tf ros-melodic-tf-conversions ros-melodic-tf2
  ros-melodic-tf2-eigen ros-melodic-tf2-geometry-msgs ros-melodic-tf2-kdl ros-melodic-tf2-msgs ros-melodic-tf2-py
  ros-melodic-tf2-ros ros-melodic-tf2-sensor-msgs ros-melodic-tf2-web-republisher ros-melodic-topic-tools
  ros-melodic-trac-ik-kinematics-plugin ros-melodic-trac-ik-lib ros-melodic-trac-ik-python
  ros-melodic-trajectory-msgs ros-melodic-transmission-interface ros-melodic-turtle-actionlib
  ros-melodic-turtle-tf ros-melodic-turtle-tf2 ros-melodic-turtlesim ros-melodic-urdf ros-melodic-urdf-tutorial
  ros-melodic-urdfdom-py ros-melodic-visualization-marker-tutorials ros-melodic-visualization-msgs
  ros-melodic-visualization-tutorials ros-melodic-viz ros-melodic-warehouse-ros ros-melodic-xacro
The following NEW packages will be installed:
  python3-catkin-pkg python3-catkin-pkg-modules python3-docutils python3-pyparsing python3-roman
0 upgraded, 5 newly installed, 258 to remove and 460 not upgraded.
Need to get 470 kB of archives.
After this operation, 180 MB disk space will be freed.
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Replicate error:

running this launch file https://github.com/Qianboy/grasp-pipeline/blob/test-ffh-experiments/launch/grasp_pipeline_servers_real_vision_only.launch

yannickBurkhardt commented 2 years ago

Did you install rospkg in your anaconda base environment?

qqianfeng commented 2 years ago

Did you install rospy in your anaconda base environment?

Nope. Because I was running this launch file outside of conda environment. Should I install it and run this in conda base?

yannickBurkhardt commented 2 years ago

The bps encoding is executed via xterm in the conda base environment. So install it in conda base and then run it normally (without environment), the environment is activated by xterm.