Commit d441d4fe authored by Claudio Gomes's avatar Claudio Gomes
Browse files

Documentation and link to Daniela's documation.

parent 4c20aee9
......@@ -39,10 +39,53 @@ pip install -e .
If using virtual box, then follow the instructions in https://www.universal-robots.com/download/
If using Hyper-V, then install ubuntu VM and then install the UR Robot simulator. Make use to use the quick create menu, so that you get clipboard and all that stuff for free (see https://superuser.com/questions/734880/hyper-v-clipboard-and-integration-services-in-ubuntu)
This package has been tested with **UR Sim for Linux 5.9.1**.
More details about the setup and common problems are detailed in [setup_ursim.md](./setup_with_ursim/setup_ursim.md).
### Installation using Hyper-V: Not possible so far.
#### Installation using Ubuntu 14.04: Failed
After installing on the new machine, I got the following error when starting ur control:
```
error while loading shared libraries: libxmlrpc_client++.so.8: cannot open shared object file: No such file or directory
```
I followed the solution in https://github.com/arunavanag591/ursim/issues/1
```
sudo apt install libxmlrpc-c++8-dev:i386
```
It still doesn't work and the error logs are in:
- [problems_URControl.log](./assets/problems_URControl.log)
- [start_ursim.log](./assets/start_ursim.log)
and they look like:
```
2020-10-02_10:30:05:96268 00:00:00:002 ERROR - Error: Minimum and maximum joint position is in violation for joint 4, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96269 00:00:00:002 ERROR - Error: Minimum and maximum joint position is in violation for joint 5, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96269 00:00:00:002 ERROR - Error: TCP orientation deviation is in violation.
2020-10-02_10:30:05:96269 00:00:00:002 ERROR - Error: Safety configuration values are invalid! Safety.conf file corrupt or missing.
2020-10-02_10:30:05:96270 00:00:00:002 ERROR - Crc verification of safety configuration failed: 00000000 D00BC1D9
2020-10-02_10:30:05:96270 00:00:00:002 ERROR - User parameters : BAD
...
Starting bundle: com.ur.polyscope.java.logger.modified-log4jcore [50]
Starting bundle: com.ur.pallet-common [52]
ERROR: Bundle com.ur.polyscope.platform.boot-g5 [2] Error starting reference:file:bundle/boot-g5-74.5.1668.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.pallet-common [52](R 52.0): missing requirement [com.ur.pallet-common [52](R 52.0)] osgi.ee; (&(osgi.ee=JavaSE)(version=1.8)) Unresolved requirements: [[com.ur.pallet-common [52](R 52.0)] osgi.ee; (&(osgi.ee=JavaSE)(version=1.8))])
ERROR: Bundle com.ur.pallet-common [52] Error starting reference:file:bundle/pallet-common-10.9.258.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.pallet-common [52](R 52.0): missing requirement [com.ur.pallet-common [52](R 52.0)] osgi.ee; (&(osgi.ee=JavaSE)(version=1.8)) Unresolved requirements: [[com.ur.pallet-common [52](R 52.0)] osgi.ee; (&(osgi.ee=JavaSE)(version=1.8))])
```
#### Experiment for ubuntu 20.04: Failed
Changed the install script to make it work with java 11.6.
Using libcurl4 instead of libcurl3.
This was not enough and when I started the simulator I got some weird errors on missing java dependencies.
## Publishing this package on pypi
Instructions adapted from: https://packaging.python.org/tutorials/packaging-projects/
......@@ -59,7 +102,7 @@ Create source distribution
```
python setup.py sdist
```
Create binary distribtion
Create binary distribution
```
python setup.py bdist_wheel
```
......@@ -102,7 +145,5 @@ ModuleNotFoundError: No module named 'pytest'
Process finished with exit code 1
```
Solution:
1. Clear all run configurations, and create a new one using unittest.
Solution: Clear all run configurations, and create a new one using unittest.
URControl 30.17.16 [] G5 (20-07-2020, 07:30:52)
2020-10-02_10:30:05:90538 00:00:00:000 INFO - parseOpts(): The following ports will be used: Primary - 30001, Secondary - 30002, Matlab - 30003, RTDE - 30004, Primary_read_only - 30011, Secondary_read_only - 30012, Matlab_read_only - 30013.
2020-10-02_10:30:05:90547 00:00:00:000 INFO - Loading calibration from '/home/ursim/ursim-5.9.1.1031110/.urcontrol/calibration.conf'
2020-10-02_10:30:05:90548 00:00:00:000 WARNING - loadCalibration: Error: Cannot open configuration file '/home/ursim/ursim-5.9.1.1031110/.urcontrol/calibration.conf'. The file is corrupt or missing.
2020-10-02_10:30:05:90549 00:00:00:000 INFO - ConfigurationManager::loadConfiguration: Loading urcontrol.conf from: /home/ursim/ursim-5.9.1.1031110/.urcontrol/urcontrol.conf.
2020-10-02_10:30:05:90549 00:00:00:000 WARNING - readLastSeenJointPositions: Error: Cannot open configuration file '/home/ursim/ursim-5.9.1.1031110/.urcontrol/.last_seen_joint_positions.conf'. The file is corrupt or missing..
2020-10-02_10:30:05:90549 00:00:00:000 WARNING - Configuration property "majorVersion" not found in section "Checksum"; setting to default value: "1"
2020-10-02_10:30:05:90550 00:00:00:000 WARNING - Configuration property "minorVersion" not found in section "Checksum"; setting to default value: "0"
2020-10-02_10:30:05:90550 00:00:00:000 WARNING - Configuration property "safetyParameters" not found in section "Checksum"; setting to default value: "0"
2020-10-02_10:30:05:90551 00:00:00:000 INFO - Safety Version 1:0
2020-10-02_10:30:05:90551 00:00:00:000 ERROR - Error: General limits are in violation.
2020-10-02_10:30:05:90552 00:00:00:000 ERROR - Error: Max joint speed is in violation.
2020-10-02_10:30:05:90552 00:00:00:000 ERROR - Error: Minimum and maximum joint position is in violation for joint 0, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:90553 00:00:00:000 ERROR - Error: Minimum and maximum joint position is in violation for joint 1, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:90553 00:00:00:000 ERROR - Error: Minimum and maximum joint position is in violation for joint 2, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:90553 00:00:00:000 ERROR - Error: Minimum and maximum joint position is in violation for joint 3, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:90554 00:00:00:000 ERROR - Error: Minimum and maximum joint position is in violation for joint 4, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:90554 00:00:00:000 ERROR - Error: Minimum and maximum joint position is in violation for joint 5, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:90555 00:00:00:000 ERROR - Error: TCP orientation deviation is in violation.
2020-10-02_10:30:05:90555 00:00:00:000 ERROR - Error: Safety configuration values are invalid! Safety.conf file corrupt or missing.
2020-10-02_10:30:05:90555 00:00:00:000 WARNING - PThread::_start: SCHED_FIFO - Failed to set scheduling parameters for PThreadPool
Exception was caught in creating ModbusServer: ServerSocket: Socket::bind() failed.
You need root privileges to open a Modbus server at port 502
Perhaps use: "sudo setcap cap_net_bind_service+ep ./URControl"
2020-10-02_10:30:05:96246 00:00:00:000 WARNING - Configuration property "majorVersion" not found in section "Checksum"; setting to default value: "1"
2020-10-02_10:30:05:96251 00:00:00:000 WARNING - Configuration property "minorVersion" not found in section "Checksum"; setting to default value: "0"
2020-10-02_10:30:05:96251 00:00:00:000 WARNING - Configuration property "safetyParameters" not found in section "Checksum"; setting to default value: "0"
2020-10-02_10:30:05:96252 00:00:00:000 INFO - Safety Version 1:0
2020-10-02_10:30:05:96253 00:00:00:000 ERROR - Error: General limits are in violation.
2020-10-02_10:30:05:96254 00:00:00:000 ERROR - Error: Max joint speed is in violation.
2020-10-02_10:30:05:96256 00:00:00:000 ERROR - Error: Minimum and maximum joint position is in violation for joint 0, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96256 00:00:00:000 ERROR - Error: Minimum and maximum joint position is in violation for joint 1, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96257 00:00:00:000 ERROR - Error: Minimum and maximum joint position is in violation for joint 2, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96257 00:00:00:000 ERROR - Error: Minimum and maximum joint position is in violation for joint 3, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96258 00:00:00:000 ERROR - Error: Minimum and maximum joint position is in violation for joint 4, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96258 00:00:00:000 ERROR - Error: Minimum and maximum joint position is in violation for joint 5, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96259 00:00:00:000 ERROR - Error: TCP orientation deviation is in violation.
2020-10-02_10:30:05:96259 00:00:00:000 ERROR - Error: Safety configuration values are invalid! Safety.conf file corrupt or missing.
2020-10-02_10:30:05:96259 00:00:00:002 WARNING - Configuration property "majorVersion" not found in section "Checksum"; setting to default value: "1"
2020-10-02_10:30:05:96260 00:00:00:002 WARNING - Configuration property "minorVersion" not found in section "Checksum"; setting to default value: "0"
2020-10-02_10:30:05:96260 00:00:00:002 WARNING - Configuration property "safetyParameters" not found in section "Checksum"; setting to default value: "0"
2020-10-02_10:30:05:96262 00:00:00:002 INFO - Safety Version 1:0
2020-10-02_10:30:05:96263 00:00:00:002 ERROR - Error: General limits are in violation.
2020-10-02_10:30:05:96265 00:00:00:002 ERROR - Error: Max joint speed is in violation.
2020-10-02_10:30:05:96265 00:00:00:002 ERROR - Error: Minimum and maximum joint position is in violation for joint 0, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96267 00:00:00:002 ERROR - Error: Minimum and maximum joint position is in violation for joint 1, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96267 00:00:00:002 ERROR - Error: Minimum and maximum joint position is in violation for joint 2, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96268 00:00:00:002 ERROR - Error: Minimum and maximum joint position is in violation for joint 3, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96268 00:00:00:002 ERROR - Error: Minimum and maximum joint position is in violation for joint 4, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96269 00:00:00:002 ERROR - Error: Minimum and maximum joint position is in violation for joint 5, Min = 0.034907 and Max = -0.034907
2020-10-02_10:30:05:96269 00:00:00:002 ERROR - Error: TCP orientation deviation is in violation.
2020-10-02_10:30:05:96269 00:00:00:002 ERROR - Error: Safety configuration values are invalid! Safety.conf file corrupt or missing.
2020-10-02_10:30:05:96270 00:00:00:002 ERROR - Crc verification of safety configuration failed: 00000000 D00BC1D9
2020-10-02_10:30:05:96270 00:00:00:002 ERROR - User parameters : BAD
Checking Robot Root Certificate
~/ursim-5.9.1.1031110/GUI ~/ursim-5.9.1.1031110 ~/ursim-5.9.1.1031110
- aopalliance-1.0.jar
- aspectjrt-1.8.2.jar
- awtextra-1.0.jar
- balloontip-1.2.4.jar
- bcpkix-jdk15on-1.59.jar
- bcprov-jdk15on-1.59.jar
- boot-g5-74.5.1668.jar
- cglib-nodep-2.2.jar
- commons-beanutils-1.8.3.jar
- commons-codec-1.9.jar
- commons-collections-3.2.1.jar
- commons-httpclient-3.1.0.0.jar
- commons-io-2.4.jar
- commons-lang-2.6.jar
- commons-lang3-3.3.2.jar
- commons-logging-1.2.jar
- commons-math3-3.3.jar
- constants-19.0.1.jar
- conveyortracking-1.3.19.jar
- cssparser-0.9.14.jar
- ethernetip-1.2.4.jar
- filters-2.0.235.jar
- freehep-java3d-2.1.jar
- geom-feature-urcap-api-export-1.9.11.jar
- gripper-urcap-api-export-1.3.104.jar
- gson-2.8.5.jar
- guava-19.0.jar
- guice-4.1.0.jar
- guice-multibindings-4.1.0.jar
- help-g5-UR10e-3.14.7.jar
- help-g5-UR16e-3.14.7.jar
- help-g5-UR3e-3.14.7.jar
- help-g5-UR5e-3.14.7.jar
- j3d-core-1.5.2-modified.jar
- j3d-core-utils-1.5.2-modified.jar
- jackson-annotations-2.7.0.jar
- jackson-core-2.7.9.jar
- jackson-databind-2.7.9.6.jar
- javahelp-2.0.05.jar
- javax.inject-1.jar
- jemmy-3.2.1.jar
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- jgoodies-forms-1.7.2.jar
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- modified-log4jcore-1.10.5.jar
- org.apache.felix.shell-1.4.3.jar
- org.apache.felix.shell.remote-1.1.2.jar
- org.osgi.core-6.0.0.jar
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- pallet-impl-10.9.258.jar
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- polyscope-application-api-1.12.17.jar
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- polyscope-concept-operations-driver-7.5.4.jar
- polyscope-concept-operations-impl-7.5.4.jar
- polyscope-controllerinterface-api-4.6.10.jar
- polyscope-controllerinterface-impl-4.6.10.jar
- polyscope-dashboard-server-api-1.11.13.jar
- polyscope-dashboard-server-impl-1.11.13.jar
- polyscope-driver-api-3.12.2.jar
- polyscope-file-manager-api-5.5.9.jar
- polyscope-file-manager-driver-5.5.9.jar
- polyscope-file-manager-impl-5.5.9.jar
- polyscope-flight-recorder-api-5.4.4.jar
- polyscope-flight-recorder-impl-5.4.4.jar
- polyscope-freedrive-api-1.2.6.jar
- polyscope-freedrive-driver-1.2.6.jar
- polyscope-freedrive-impl-1.2.6.jar
- polyscope-geom-feature-api-1.9.11.jar
- polyscope-geom-feature-driver-1.9.11.jar
- polyscope-geom-feature-impl-1.9.11.jar
- polyscope-gripper-driver-1.3.104.jar
- polyscope-gripper-impl-1.3.104.jar
- polyscope-initializerobot-api-4.5.4.jar
- polyscope-initializerobot-driver-4.5.4.jar
- polyscope-initializerobot-impl-4.5.4.jar
- polyscope-installation-api-6.5.19.jar
- polyscope-installation-driver-6.5.19.jar
- polyscope-installation-impl-6.5.19.jar
- polyscope-installation-urcap-api-6.5.19.jar
- polyscope-internal-calibration-10.9.258.jar
- polyscope-internal-defaultprogram-10.9.258.jar
- polyscope-internal-driver-g5-10.9.258.jar
- polyscope-internal-g5-10.9.258.jar
- polyscope-internal-immi-10.9.258.jar
- polyscope-internal-initializerobot-10.9.258.jar
- polyscope-internal-installation-10.9.258.jar
- polyscope-internal-io-10.9.258.jar
- polyscope-internal-move-10.9.258.jar
- polyscope-internal-payload-10.9.258.jar
- polyscope-internal-pin-10.9.258.jar
- polyscope-internal-program-10.9.258.jar
- polyscope-internal-remotecontrol-10.9.258.jar
- polyscope-internal-safety-10.9.258.jar
- polyscope-internal-tcp-10.9.258.jar
- polyscope-internal-urcap-10.9.258.jar
- polyscope-internal-view-10.9.258.jar
- polyscope-internal-viewfacade-10.9.258.jar
- polyscope-internal-visualizer-10.9.258.jar
- polyscope-io-api-4.5.12.jar
- polyscope-io-driver-4.5.12.jar
- polyscope-io-impl-4.5.12.jar
- polyscope-java-logger-api-1.10.5.jar
- polyscope-java-logger-impl-1.10.5.jar
- polyscope-lang-3.5.9.jar
- polyscope-license-api-2.5.4.jar
- polyscope-license-driver-2.5.4.jar
- polyscope-license-impl-2.5.4.jar
- polyscope-logging-api-7.4.12.jar
- polyscope-logging-driver-7.4.12.jar
- polyscope-logging-impl-7.4.12.jar
- polyscope-monitor-5.4.14.jar
- polyscope-move-api-1.7.3.jar
- polyscope-move-driver-1.7.3.jar
- polyscope-move-impl-1.7.3.jar
- polyscope-persistence-api-1.8.7.jar
- polyscope-persistence-impl-1.8.7.jar
- polyscope-program-api-5.4.12.jar
- polyscope-program-driver-5.4.12.jar
- polyscope-program-impl-5.4.12.jar
- polyscope-program-metrics-impl-3.5.2.jar
- polyscope-robot-configuration-api-5.5.8.jar
- polyscope-robot-configuration-impl-5.5.8.jar
- polyscope-safety-api-1.2.3.jar
- polyscope-safety-driver-1.2.3.jar
- polyscope-safety-impl-1.2.3.jar
- polyscope-screenshot-builder-api-2.7.7.jar
- polyscope-screwdriving-driver-3.3.12.jar
- polyscope-screwdriving-impl-3.3.12.jar
- polyscope-scriptwriter-3.2.3.jar
- polyscope-security-api-7.5.5.jar
- polyscope-security-driver-7.5.5.jar
- polyscope-security-impl-7.5.5.jar
- polyscope-settings-api-4.12.4.jar
- polyscope-settings-impl-4.12.4.jar
- polyscope-simulation-api-5.5.9.jar
- polyscope-simulation-impl-5.5.9.jar
- polyscope-swing-5.23.18.jar
- polyscope-system-api-6.4.7.jar
- polyscope-system-diagnostics-impl-6.4.7.jar
- polyscope-system-driver-6.4.7.jar
- polyscope-system-impl-6.4.7.jar
- polyscope-tcp-api-1.6.12.jar
- polyscope-tcp-driver-1.6.12.jar
- polyscope-tcp-impl-1.6.12.jar
- polyscope-tcp-urcap-api-1.6.12.jar
- polyscope-toolbar-impl-7.4.5.jar
- polyscope-urcap-api-13.5.40.jar
- polyscope-urcap-driver-13.5.40.jar
- polyscope-urcap-impl-13.5.40.jar
- polyscope-urcap-urcap-api-13.5.40.jar
- polyscope-value-objects-api-1.12.17.jar
- polyscope-value-objects-impl-1.12.17.jar
- polyscope-value-objects-urcap-api-1.12.17.jar
- polyscope-version-api-1.14.5.jar
- polyscope-version-impl-1.14.5.jar
- profinet-1.2.4.jar
- reactive-streams-1.0.0.jar
- remotetcp-1.2.65-build36.jar
- rxjava-2.1.0.jar
- sac-1.3.jar
- screwdriving-urcap-api-export-3.3.12.jar
- swing-layout-1.0.3.jar
- swing-worker-1.1.jar
- swingx-1.6.1.jar
- urcap-api-export-7.4.5.jar
- urcap-api-export-robotmovement-13.5.40.jar
- urscript2pojo-1.4.1.jar
- validation-api-1.1.0.Final.jar
- vecmath-1.5.2-modified.jar
- ws-commons-util-1.0.2.0.jar
- xmlrpc-client-3.1.3.0.jar
- xmlrpc-common-3.1.3.0.jar
- xpp3_min-1.1.4c.jar
- xstream-1.3.1.jar
Identifying Split Packages
Split package detected!
com.ur.resources; version=10.9.258
com.ur.polyscope.internal-view [99] com.ur.polyscope.internal-view
com.ur.polyscope.file-manager.polyscope-file-manager-impl [65] com.ur.polyscope.file-manager.polyscope-file-manager-impl
Split package detected!
com.ur.i18n; version=10.9.258
com.ur.polyscope.internal-view [99] com.ur.polyscope.internal-view
com.ur.polyscope.file-manager.polyscope-file-manager-impl [65] com.ur.polyscope.file-manager.polyscope-file-manager-impl
Split package detected!
com.ur.i18n; version=10.9.258
com.ur.polyscope.internal-view [99] com.ur.polyscope.internal-view
com.ur.polyscope.file-manager.polyscope-file-manager-impl [65] com.ur.polyscope.file-manager.polyscope-file-manager-impl
Split package detected!
com.ur.urcap.api.domain.value; version=1.7.0
com.ur.polyscope.valueobjects.polyscope-value-objects-urcap-api [156] com.ur.polyscope.valueobjects.polyscope-value-objects-urcap-api
com.ur.polyscope.urcaps.polyscope-urcap-urcap-api [153] com.ur.polyscope.urcaps.polyscope-urcap-urcap-api
Starting bundle: com.ur.polyscope.platform-api [1]
Starting bundle: com.ur.polyscope.constants [21]
Starting bundle: com.ur.urcap.conveyortracking [22]
Starting bundle: com.ur.urcap.ethernetip [24]
Starting bundle: com.ur.polyscope.geomfeature.urcap.geom-feature-urcap-api-export [27]
Starting bundle: com.ur.polyscope.gripper.urcap.gripper-urcap-api-export [28]
Starting bundle: com.ur.polyscope.help-g5-UR10e [33]
Starting bundle: com.ur.polyscope.help-g5-UR16e [34]
Starting bundle: com.ur.polyscope.help-g5-UR3e [35]
Starting bundle: com.ur.polyscope.help-g5-UR5e [36]
Starting bundle: com.ur.polyscope.java.logger.modified-log4jcore [50]
Starting bundle: com.ur.pallet-common [52]
ERROR: Bundle com.ur.polyscope.platform.boot-g5 [2] Error starting reference:file:bundle/boot-g5-74.5.1668.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.pallet-common [52](R 52.0): missing requirement [com.ur.pallet-common [52](R 52.0)] osgi.ee; (&(osgi.ee=JavaSE)(version=1.8)) Unresolved requirements: [[com.ur.pallet-common [52](R 52.0)] osgi.ee; (&(osgi.ee=JavaSE)(version=1.8))])
ERROR: Bundle com.ur.pallet-common [52] Error starting reference:file:bundle/pallet-common-10.9.258.jar (org.osgi.framework.BundleException: Unable to resolve com.ur.pallet-common [52](R 52.0): missing requirement [com.ur.pallet-common [52](R 52.0)] osgi.ee; (&(osgi.ee=JavaSE)(version=1.8)) Unresolved requirements: [[com.ur.pallet-common [52](R 52.0)] osgi.ee; (&(osgi.ee=JavaSE)(version=1.8))])
......@@ -8,7 +8,7 @@ project_dir = Path(__file__).parent
setuptools.setup(
name="urinterface",
version="0.0.4",
version="0.0.5",
description="UR Robot Interface",
# Allow UTF-8 characters in README with encoding argument.
long_description=project_dir.joinpath("README.md").read_text(encoding="utf-8"),
......
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