Robot Servers and Server Manager software for robo-gym

Related tags

Deep Learning robotics openai-gym robo-gym
Overview

robo-gym-server-modules

Robot Servers and Server Manager software for robo-gym.

For info on how to use this package please visit the robo-gym website or the main robo-gym repository.

Install

pip install robo-gym-server-modules

Server Manager

How to use

The commands to control the Server Manager are:

  • start-server-manager starts the Server Manager in the background
  • attach-to-server-manager attaches the console to the Server Manager tmux session allowing to visualize the status of the Server Manager
  • Ctrl+B, D detaches the console from the Server Manager tmux session
  • kill-all-robot-servers kills all the running Robot Servers and the Server Manager
  • kill-server-manager kills the Server Manager
  • restart-server-manager kills all the running Robot Servers and the Server Manager and starts the Server Manager in the background

Testing

Start the Server Manager and attach to the session with:

start-server-manager && attach-to-server-manager

Expected output:

2021-XX-XX XX:XX:XX,XXX - serverManager - INFO - Server Manager started at 50100

If you get: start-server-manager: command not found it is most probably because your $PATH is not set correctly, to fix the problem add:

export PATH="/home/<your_username>/.local/bin:$PATH"

to your .bashrc file.

Troubleshooting

The Server Manager starts the Robot Server/s in a tmux session. To access the session of the Robot Server, first connect to the tmux server with:

tmux -L ServerManager

Then navigate to the session with Ctrl+b )

Tmux cheat sheet

Additional info

How to manually generate python code for the RobotServer

From the repository root folder:

 python -m grpc_tools.protoc -Irobo_gym_server_modules/robot_server/grpc_msgs/protos --python_out=robo_gym_server_modules/robot_server/grpc_msgs/python/. --grpc_python_out=robo_gym_server_modules/robot_server/grpc_msgs/python/. robo_gym_server_modules/robot_server/grpc_msgs/protos/robot_server.proto
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Comments
  • Error while running test python client

    Error while running test python client

    Hi!

    While running the test MIR robot client program, I'm getting an error: _InactiveRpcError of RPC that terminated with: status = StatusCode.UNAVAILABLE details = "failed to connect to all addresses" debug_error_string = "{"created":"@1602461115.459864652","description":"Failed to pick subchannel","file":"src/core/ext/filters/client_channel/client_channel.cc","file_line":3941,"referenced_errors":[{"created":"@1602461115.459861937","description":"failed to connect to all addresses","file":"src/core/ext/filters/client_channel/lb_policy/pick_first/pick_first.cc","file_line":393,"grpc_status":14}]}"

    On the client side, I get Starting new Robot Server | Tentative 1 Starting new Robot Server | Tentative 2 Starting new Robot Server | Tentative 3 Starting new Robot Server | Tentative 4

    Can you please help me out? Thanks, Kiran

    opened by klekkala 3
  • On launch of robogym servers, pb2 error, TypeError: Descriptors cannot not be created directly.

    On launch of robogym servers, pb2 error, TypeError: Descriptors cannot not be created directly.

    Hi,

    I am trying to use the robogym servers and am running into this issue on launch.

    Details of my setup: Ubuntu 20, Ros Noetic, python 3.8.10

    The command that I am running that results in the error:

    roslaunch ur_robot_server ur_robot_server.launch ur_model:=ur10 gui:=true

    The error:

    Traceback (most recent call last): File "/home/kirstyellis/robogym_ws/devel/lib/ur_robot_server/robot_server.py", line 15, in exec(compile(fh.read(), python_script, 'exec'), context) File "/home/kirstyellis/robogym_ws/src/robo-gym-robot-servers/ur_robot_server/scripts/robot_server.py", line 5, in from ur_robot_server.ros_bridge import UrRosBridge File "/home/kirstyellis/robogym_ws/src/robo-gym-robot-servers/ur_robot_server/src/ur_robot_server/ros_bridge.py", line 12, in from robo_gym_server_modules.robot_server.grpc_msgs.python import robot_server_pb2 File "/home/kirstyellis/.local/lib/python3.8/site-packages/robo_gym_server_modules/robot_server/grpc_msgs/python/robot_server_pb2.py", line 36, in _descriptor.FieldDescriptor( File "/home/kirstyellis/.local/lib/python3.8/site-packages/google/protobuf/descriptor.py", line 560, in new _message.Message._CheckCalledFromGeneratedFile() TypeError: Descriptors cannot not be created directly. If this call came from a _pb2.py file, your generated code is out of date and must be regenerated with protoc >= 3.19.0. If you cannot immediately regenerate your protos, some other possible workarounds are:

    1. Downgrade the protobuf package to 3.20.x or lower.
    2. Set PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python (but this will use pure-Python parsing and will be much slower).

    Any ideas what is causing this? Has anyone else hit this issue?

    Thanks!

    opened by kirstyellis 2
  • typo in /robo_gym_server_modules/server_manager/client.py

    typo in /robo_gym_server_modules/server_manager/client.py", line 65

    line 65: raise RuntimeError('Failed {} tentatives of killing Robot Server'.forma(str(max_tentatives))) AttributeError: 'str' object has no attribute 'forma'

    FYI!

    opened by mphamhung 1
Owner
JR ROBOTICS
JOANNEUM RESEARCH – Institute for Robotics and Mechatronics
JR ROBOTICS
GitHub https://sites.google.com/view/robo-gym
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