Universal Robots Forum

myDaemon example in installation node always shows "My Daemon failed"

Hi everyone,

I am new to URcaps and recently I’ve tried to deploy the myDaemon example from the folder of URCaps SDK1.2.41 and deploy it to URSim3.5.3.10825 on local computer.
I’ve used $mvn install -P ursim to build and it works. However in the installation node of Polyscope there is always an error which shows
<-- Dsplay the current run status of the daemon, updated with a 1 Hz, utilizing a java.util.Timer --> My Daemon failed. Both Daemon with cpp and python don’t work.
I’ve also tried to deploy into URSim in Virtual Mashine and it works, why???Can someone please help?

Building the project
$ mvn install -P ursim
[INFO] Scanning for projects…
[WARNING]
[WARNING] Some problems were encountered while building the effective model for com.ur.urcap.sample:XMLRPCmath:bundle:1.0-SNAPSHOT
[WARNING] ‘build.plugins.plugin.version’ for org.apache.maven.plugins:maven-jar-plugin is missing. @ line 49, column 12
[WARNING]
[WARNING] It is highly recommended to fix these problems because they threaten the stability of your build.
[WARNING]
[WARNING] For this reason, future Maven versions might no longer support building such malformed projects.
[WARNING]
[INFO]
[INFO] ------------------------------------------------------------------------
[INFO] Building XMLRPCmath 1.0-SNAPSHOT
[INFO] ------------------------------------------------------------------------
[INFO]
[INFO] — maven-resources-plugin:3.1.0:resources (default-resources) @ XMLRPCmath —
[WARNING] Using platform encoding (UTF-8 actually) to copy filtered resources, i.e. build is platform dependent!
[INFO] Copying 3 resources
[INFO]
[INFO] — maven-compiler-plugin:3.7.0:compile (default-compile) @ XMLRPCmath —
[INFO] Nothing to compile - all classes are up to date
[INFO]
[INFO] — maven-bundle-plugin:2.4.0:manifest (bundle-manifest) @ XMLRPCmath —
[INFO]
[INFO] — maven-resources-plugin:3.1.0:testResources (default-testResources) @ XMLRPCmath —
[WARNING] Using platform encoding (UTF-8 actually) to copy filtered resources, i.e. build is platform dependent!
[INFO] skip non existing resourceDirectory /home/einfisch/Downloads/com.ur.urcap.sample.XMLRPCmath/src/test/resources
[INFO]
[INFO] — maven-compiler-plugin:3.7.0:testCompile (default-testCompile) @ XMLRPCmath —
[INFO] Nothing to compile - all classes are up to date
[INFO]
[INFO] — maven-surefire-plugin:2.21.0:test (default-test) @ XMLRPCmath —
[INFO]
[INFO] -------------------------------------------------------
[INFO] T E S T S
[INFO] -------------------------------------------------------
[INFO] Running com.ur.urcap.sample.XMLRPCmath.impl.AppTest
[INFO] Tests run: 1, Failures: 0, Errors: 0, Skipped: 0, Time elapsed: 0.032 s - in com.ur.urcap.sample.XMLRPCmath.impl.AppTest
[INFO]
[INFO] Results:
[INFO]
[INFO] Tests run: 1, Failures: 0, Errors: 0, Skipped: 0
[INFO]
[INFO]
[INFO] — maven-bundle-plugin:2.4.0:bundle (default-bundle) @ XMLRPCmath —
[INFO]
[INFO] — exec-maven-plugin:1.1:exec (package-urcap) @ XMLRPCmath —
[INFO]
[INFO] — maven-install-plugin:2.5.2:install (default-install) @ XMLRPCmath —
[INFO] Installing /home/einfisch/Downloads/com.ur.urcap.sample.XMLRPCmath/target/XMLRPCmath-1.0-SNAPSHOT.jar to /home/einfisch/.m2/repository/com/ur/urcap/sample/XMLRPCmath/1.0-SNAPSHOT/XMLRPCmath-1.0-SNAPSHOT.jar
[INFO] Installing /home/einfisch/Downloads/com.ur.urcap.sample.XMLRPCmath/pom.xml to /home/einfisch/.m2/repository/com/ur/urcap/sample/XMLRPCmath/1.0-SNAPSHOT/XMLRPCmath-1.0-SNAPSHOT.pom
[INFO]
[INFO] — maven-bundle-plugin:2.4.0:install (default-install) @ XMLRPCmath —
[INFO] Installing com/ur/urcap/sample/XMLRPCmath/1.0-SNAPSHOT/XMLRPCmath-1.0-SNAPSHOT.jar
[INFO] Writing OBR metadata
[INFO]
[INFO] — exec-maven-plugin:1.1:exec (ursim-install-urcap) @ XMLRPCmath —
[INFO] ------------------------------------------------------------------------
[INFO] BUILD SUCCESS
[INFO] ------------------------------------------------------------------------
[INFO] Total time: 2.584 s
[INFO] Finished at: 2018-05-15T16:28:30+02:00
[INFO] Final Memory: 15M/198M
[INFO] ------------------------------------------------------------------------

Running URSim with commando line $ ./start-ursim.sh
URControl(21138): Operation not permitted
URControl: no process found
~/ursim/GUI ~/ursim ~/ursim
Installing bundle: cglib-nodep-2.2.jar
Installing bundle: commons-codec-1.9.jar
Installing bundle: aopalliance-1.0.jar
Installing bundle: balloontip-1.2.4.jar
Installing bundle: view-1.3.307.jar
Installing bundle: lambdaj-2.3.3.jar
Installing bundle: validation-api-1.1.0.Final.jar
Installing bundle: xstream-1.3.1.jar
Installing bundle: program-1.3.307.jar
Installing bundle: jgoodies-common-1.7.0.jar
Installing bundle: g3-1.3.307.jar
Installing bundle: commons-beanutils-1.8.3.jar
Installing bundle: filters-2.0.235.jar
Installing bundle: calibration-1.3.307.jar
Installing bundle: api-1.2.56.jar
Installing bundle: conveyortracking-1.2.9.jar
Installing bundle: jackson-databind-2.0.0.jar
Installing bundle: monitor-1.3.307.jar
Installing bundle: guice-multibindings-3.0.jar
Installing bundle: org.apache.felix.shell-1.4.3.jar
Installing bundle: rxjava-2.1.0.jar
Installing bundle: xmlrpc-common-3.1.3.0.jar
Installing bundle: profinet-1.1.6.jar
Installing bundle: defaultprogram-1.3.307.jar
Installing bundle: io-1.3.307.jar
Installing bundle: help-g3-UR5-1.2.79.jar
Installing bundle: commons-collections-3.2.1.jar
Installing bundle: ethernetip-1.1.10.jar
Installing bundle: polyscope-lang-1.1.7.jar
Installing bundle: xmlrpc-client-3.1.3.0.jar
Installing bundle: dashboardserver-1.3.307.jar
Installing bundle: jcl-core-2.5.jar
Installing bundle: jsr305-3.0.1.jar
Installing bundle: safety-1.3.307.jar
Installing bundle: vecmath-1.5.2-modified.jar
Installing bundle: jackson-annotations-2.0.0.jar
Installing bundle: constants-3.0.0.jar
Installing bundle: swing-worker-1.1.jar
Installing bundle: commons-io-2.4.jar
Installing bundle: objenesis-1.1.jar
Installing bundle: hamcrest-all-1.1.jar
Installing bundle: rxjava-1.3.0.jar
Installing bundle: gson-2.5.jar
Installing bundle: ws-commons-util-1.0.2.0.jar
Installing bundle: jsoup-1.7.3.jar
Installing bundle: commons-lang3-3.3.2.jar
Installing bundle: commons-logging-1.2.jar
Installing bundle: javahelp-2.0.05.jar
Installing bundle: domain-1.3.307.jar
Installing bundle: freehep-java3d-2.1.jar
Installing bundle: security-1.3.307.jar
Installing bundle: xpp3_min-1.1.4c.jar
Installing bundle: aspectjrt-1.8.2.jar
Installing bundle: jemmy-3.2.1.jar
Installing bundle: logging-1.3.307.jar
Installing bundle: swing-layout-1.0.3.jar
Installing bundle: commons-httpclient-3.1.0.0.jar
Installing bundle: urscript2pojo-1.0.12.jar
Installing bundle: j3d-core-utils-1.5.2-modified.jar
Installing bundle: org.apache.felix.shell.remote-1.1.2.jar
Installing bundle: swingx-1.6.1.jar
Installing bundle: javax.inject-1.jar
Installing bundle: jackson-core-2.0.0.jar
Installing bundle: commons-math3-3.3.jar
Installing bundle: guice-3.0.jar
Installing bundle: boot-g3-1.3.307.jar
Installing bundle: flightrecorder-1.3.307.jar
Installing bundle: reactive-streams-1.0.0.jar
Installing bundle: org.osgi.core-6.0.0.jar
Installing bundle: org.apache.felix.bundlerepository-1.6.0.jar
Installing bundle: polyscope-swing-1.1.1.jar
Installing bundle: jgoodies-forms-1.7.2.jar
Installing bundle: cssparser-0.9.14.jar
Installing bundle: urcap-1.3.307.jar
Installing bundle: commons-lang-2.6.jar
Installing bundle: j3d-core-1.5.2-modified.jar
Installing bundle: core-2.3.0.jar
Installing bundle: sac-1.3.jar
Installing bundle: org.apache.felix.fileinstall-3.5.0.jar
Installing bundle: awtextra-1.0.jar
Starting bundle: com.ur.polyscope.program [14]
Starting bundle: com.ur.polyscope.g3 [16]
Starting bundle: com.ur.polyscope.calibration [19]
Starting bundle: com.ur.urcap.api [20]
Starting bundle: com.ur.urcap.conveyortracking [21]
Starting bundle: com.ur.polyscope.monitor [23]
Starting bundle: com.ur.urcap.profinet [27]
Starting bundle: com.ur.polyscope.defaultprogram [28]
Starting bundle: com.ur.polyscope.io [29]
Starting bundle: com.ur.polyscope.help-g3-UR5 [30]
Starting bundle: com.ur.urcap.ethernetip [32]
Starting bundle: com.ur.polyscope.lang [33]
Starting bundle: com.ur.polyscope.dashboardserver [35]
Starting bundle: com.ur.polyscope.safety [39]
Starting bundle: com.ur.polyscope.constants [42]
Starting bundle: com.ur.polyscope.domain [55]
Starting bundle: com.ur.polyscope.security [57]
Starting bundle: com.ur.logging [61]
Starting bundle: com.ur.urscript2pojo [64]
Starting bundle: com.ur.polyscope.flightrecorder [71]
Starting bundle: com.ur.polyscope.swing [74]
Starting bundle: com.ur.polyscope.urcap [77]
Starting bundle: com.ur.polyscope.view [85]
ERROR [Thread-2] 17:52:45 15/05/18: Problem with installation of bundle
java.io.IOException: Could not set executable flag on file /home/einfisch/ursim/GUI/felix-cache/bundle107/data/com/ur/urcap/examples/mydaemon/impl/daemon/-61841394/run
at com.ur.urcap.servicedaemon.impl.RUNITService.createExecutableFile(RUNITService.java:102)
at com.ur.urcap.servicedaemon.impl.RUNITService.prepareDaemon(RUNITService.java:30)
at com.ur.urcap.servicedaemon.impl.DaemonServiceManager.discoverInstalledDaemons(DaemonServiceManager.java:41)
at com.ur.urcap.impl.osgi.OSGiURCapBundleProvider.registerServiceDaemons(OSGiURCapBundleProvider.java:135)
at com.ur.urcap.impl.osgi.OSGiURCapBundleProvider.updateContributions(OSGiURCapBundleProvider.java:82)
at com.ur.urcap.impl.osgi.OSGiURCapBundleProvider.getInstallationContributions(OSGiURCapBundleProvider.java:141)
at com.ur.view.polyscope.module.urcaps.URCapInstallationModule.updateInstalledURCaps(URCapInstallationModule.java:124)
at com.ur.view.polyscope.module.urcaps.URCapInstallationModule.unmarshal(URCapInstallationModule.java:108)
at com.ur.view.polyscope.module.InstallationsContributionsProviderImpl.unmarshal(InstallationsContributionsProviderImpl.java:87)
at com.ur.view.polyscope.persistence.installation.RobotInstallationConverterStrategy_v3_1.unmarshalInstallation(RobotInstallationConverterStrategy_v3_1.java:138)
at com.ur.view.polyscope.persistence.installation.RobotInstallationConverterStrategy_v3_1.unmarshal(RobotInstallationConverterStrategy_v3_1.java:114)
at com.ur.view.polyscope.persistence.installation.RobotInstallationConverterStrategy_v3_1.unmarshal(RobotInstallationConverterStrategy_v3_1.java:1)
at com.ur.view.polyscope.persistence.CompositeConversionStrategy.tryUnmarshal(CompositeConversionStrategy.java:80)
at com.ur.view.polyscope.persistence.CompositeConversionStrategy.unmarshal(CompositeConversionStrategy.java:47)
at com.ur.view.polyscope.persistence.ConverterWrapper.unmarshal(ConverterWrapper.java:34)
at com.thoughtworks.xstream.core.TreeUnmarshaller.convert(TreeUnmarshaller.java:82)
at com.thoughtworks.xstream.core.AbstractReferenceUnmarshaller.convert(AbstractReferenceUnmarshaller.java:63)
at com.thoughtworks.xstream.core.TreeUnmarshaller.convertAnother(TreeUnmarshaller.java:76)
at com.thoughtworks.xstream.core.TreeUnmarshaller.convertAnother(TreeUnmarshaller.java:60)

May 15, 2018 5:52:45 PM com.steadystate.css.parser.CSSOMParser
WARNING: java.lang.ClassNotFoundException: com.steadystate.css.parser.SACParserCSS21 not found by org.w3c.css.sac [81]
May 15, 2018 5:52:45 PM com.steadystate.css.parser.CSSOMParser
WARNING: using the default ‘SACParserCSS21’ instead
Could not set the title in the daemon process.
URControl(21138): Operation not permitted
URControl: no process found
ERROR [RobotState - PostMan] 17:52:58 15/05/18 RobotState$PostMan.work(line:257): RobotState messages are queued up: 4

Thanks for help!!!

Hey, looks like maven output comes from another sample called XMLRPCmath.
If you start ursim without parameter, I think it will start UR3, so keep that in mind.

1 Like

Oops, sorry. Yes I was also working on the XMLRPCmath example, which uses daemon as well. The build succeded but also doesn’t work on URSim. I think it may be the same problem as daemon program.

I have two ideas:

Did you set your daemon script file to be executable? Try python daemon first. I never tried to start c++.

Are you using any funny css or html in Installation node or Program Node? Polyscope is very vulnerable to that and defaults to crashing rather than ignoring unknown html/css.

Yes I’ve tried python, everthing is fine until I open the installation interface and it shows my daemon failed. Actually I just follow the Tutorial and didn’t change css or html data…

Ok, actually you can ignore that java.lang.ClassNotFoundException from com.steadystaet.css.parser. I have it also when I start Polyscope. Could you show result of ls -l in the directory where you have your python daemon script?

Hi, I think I have found the problem. Somehow the python server(hello-world.py) is not started in Polyscope. That’s why in user interface of installation node it always shows my daemon failed. Man can start the server in commando line.

Thank you very much still!