Universal Robots+

Parameter Mismatch when Installing URSim on fresh Ubuntu

I’m having some strange behavior when trying to run URSim 3.6.1 when installing on a fresh install on 64 Bit Ubuntu 18.04.1: after a number of workarounds, I was finally able to install and start URSim, but there is some weird mismatch between the robot model selected (either by doubleclickign the URX file on desktop, or running bash start-ursim.sh UR10), where the UR10 file opens a model that looks like the UR3, but with incorrect parameters such that joints are either floating in space far from one another, or overlapped over one another. My guess is that somehow it has a mismatch of settings and models from one robot vs. another. Has anyone faced this issue, and is there a simple solution?

Here’s what I’ve done so far, which can be summarized as my blindly fumbling around for a day and a half :slight_smile: :
-Tried installing as described on the download page. Installed Java 8 after getting an error with Java 10, but then got URControl: no process found. Tried installing older versions of URSim with similar problems.
-Realized URControl is 32 bit and I’m on a 64 bit system. Installed i386 architecture, and tried installing URSim again.
-Still same problem. When running ldd URControl I get that most xmlrpc files aren’t found. Installed those again using sudo apt-get install libxmlrpc-c++8-dev:i386 (updated to libc6 in the process). ldd URControl now finds all libraries.
-Running bash start-ursim now open URSim, but I get an error “could not save file ‘default’: Ensure the selected save directory exists”
-When opening a specific robot model, I get “Polyscope: C203A0: Polyscope detected a mismatch between the shown and to be applied safety parameters”, and get the messed up robot model when restarting.
-Having experienced similar symptoms to Samuel.Paxton, I tried those fixes (including deleting the urtool3.0 directory) but still get the same strange behavior.
-When I run `bash start-ursim.sh’, a UR5 system starts that looks correct, but I still get the “could not save file ‘default’” error. Mostly it seems fine though, except the terminal printing:

** (java:22269): WARNING **: 16:23:06.368: jaw_impl_get_instance called from jaw_thread. If you are running a screen reader, this is expected
If you are not running a screen reader, please report this warning to the java-atk-wrapper package, explaining how to reproduce this warning

-Running the UR10/UR3 specifically gives me the fault and strange mismatch of model and parameters (UR10 looks like a funky UR3, and UR3 looks like a funky UR10).
-Running install.sh prints the following:

>        Checking java version
>     /usr/bin/java
>     version 1.8.0_171
>     java version accepted
>     Reading package lists... Done
>     Building dependency tree       
>     Reading state information... Done
>     Note, selecting 'libjava3d-jni' for glob 'libjava3d-*'
>     Note, selecting 'libjava3d-java-doc' for glob 'libjava3d-*'
>     Note, selecting 'libjava3d-java' for glob 'libjava3d-*'
>     Note, selecting 'ttf-dejavu-core' for glob 'ttf-dejavu*'
>     Note, selecting 'ttf-dejavu-extra' for glob 'ttf-dejavu*'
>     Note, selecting 'ttf-dejavu' for glob 'ttf-dejavu*'
>     fonts-arphic-ukai is already the newest version (0.2.20080216.2-4ubuntu2).
>     fonts-arphic-uming is already the newest version (0.2.20080216.2-7ubuntu3).
>     lib32gcc1 is already the newest version (1:8-20180414-1ubuntu2).
>     lib32stdc++6 is already the newest version (8-20180414-1ubuntu2).
>     libc6-i386 is already the newest version (2.27-3ubuntu1).
>     fonts-baekmuk is already the newest version (2.2-12).
>     fonts-ipafont is already the newest version (00303-18ubuntu1).
>     fonts-nanum is already the newest version (20170925-1).
>     libjava3d-java is already the newest version (1.5.2+dfsg-14).
>     libjava3d-java-doc is already the newest version (1.5.2+dfsg-14).
>     libjava3d-jni is already the newest version (1.5.2+dfsg-14).
>     ttf-dejavu is already the newest version (2.37-1).
>     ttf-dejavu-core is already the newest version (2.37-1).
>     ttf-dejavu-extra is already the newest version (2.37-1).
>     The following packages were automatically installed and are no longer required:
>       libasn1-8-heimdal:i386 libffi6:i386 libgmp10:i386 libgnutls30:i386
>       libgssapi-krb5-2:i386 libgssapi3-heimdal:i386 libhcrypto4-heimdal:i386
>       libheimbase1-heimdal:i386 libheimntlm0-heimdal:i386 libhogweed4:i386
>       libhx509-5-heimdal:i386 libidn2-0:i386 libk5crypto3:i386 libkeyutils1:i386
>       libkrb5-26-heimdal:i386 libkrb5-3:i386 libkrb5support0:i386
>       libldap-2.4-2:i386 libnettle6:i386 libnghttp2-14:i386 libp11-kit0:i386
>       libpsl5:i386 libroken18-heimdal:i386 librtmp1:i386 libsasl2-2:i386
>       libsasl2-modules:i386 libsasl2-modules-db:i386 libsqlite3-0:i386
>       libssl1.1:i386 libtasn1-6:i386 libunistring2:i386 libwind0-heimdal:i386
>     Use 'apt autoremove' to remove them.
>     The following packages will be REMOVED:
>       libcurl4:i386 libxmlrpc-c++8-dev:i386 libxmlrpc-c++8v5:i386
>       libxmlrpc-core-c3:i386 libxmlrpc-core-c3-dev:i386
>     The following NEW packages will be installed:
>       libcurl3
>     0 upgraded, 1 newly installed, 5 to remove and 0 not upgraded.
>     Need to get 0 B/214 kB of archives.
>     After this operation, 2,723 kB disk space will be freed.
>     (Reading database ... 158420 files and directories currently installed.)
>     Removing libxmlrpc-c++8-dev:i386 (1.33.14-8build1) ...
>     Removing libxmlrpc-c++8v5:i386 (1.33.14-8build1) ...
>     Removing libxmlrpc-core-c3-dev:i386 (1.33.14-8build1) ...
>     Removing libxmlrpc-core-c3:i386 (1.33.14-8build1) ...
>     Removing libcurl4:i386 (7.58.0-2ubuntu3.2) ...
>     Selecting previously unselected package libcurl3:amd64.
>     (Reading database ... 158253 files and directories currently installed.)
>     Preparing to unpack .../libcurl3_7.58.0-2ubuntu2_amd64.deb ...
>     Unpacking libcurl3:amd64 (7.58.0-2ubuntu2) ...
>     Setting up libcurl3:amd64 (7.58.0-2ubuntu2) ...
>     Processing triggers for libc-bin (2.27-3ubuntu1) ...
>     (Reading database ... 158260 files and directories currently installed.)
>     Preparing to unpack .../curl-dev-ur_7.18.2-1_amd64.deb ...
>     Unpacking curl-dev-ur (7.18.2-1) over (7.18.2-1) ...
>     Preparing to unpack .../libxmlrpc-c-dev-ur_1.33.14_amd64.deb ...
>     Unpacking libxmlrpc-c-dev-ur (1.33.14) over (1.33.14) ...
>     Preparing to unpack .../libxmlrpc-c-ur_1.33.14_amd64.deb ...
>     Unpacking libxmlrpc-c-ur (1.33.14) over (1.33.14) ...
>     Setting up curl-dev-ur (7.18.2-1) ...
>     Setting up libxmlrpc-c-ur (1.33.14) ...
>     Setting up libxmlrpc-c-dev-ur (1.33.14) ...
>     Processing triggers for libc-bin (2.27-3ubuntu1) ...
>     Install Daemon Manager
>     Installing daemon manager package
>     Reading package lists... Done
>     Building dependency tree       
>     Reading state information... Done
>     runit is already the newest version (2.1.2-9.2ubuntu1).
>     The following packages were automatically installed and are no longer required:
>       libasn1-8-heimdal:i386 libffi6:i386 libgmp10:i386 libgnutls30:i386
>       libgssapi-krb5-2:i386 libgssapi3-heimdal:i386 libhcrypto4-heimdal:i386
>       libheimbase1-heimdal:i386 libheimntlm0-heimdal:i386 libhogweed4:i386
>       libhx509-5-heimdal:i386 libidn2-0:i386 libk5crypto3:i386 libkeyutils1:i386
>       libkrb5-26-heimdal:i386 libkrb5-3:i386 libkrb5support0:i386
>       libldap-2.4-2:i386 libnettle6:i386 libnghttp2-14:i386 libp11-kit0:i386
>       libpsl5:i386 libroken18-heimdal:i386 librtmp1:i386 libsasl2-2:i386
>       libsasl2-modules:i386 libsasl2-modules-db:i386 libsqlite3-0:i386
>       libssl1.1:i386 libtasn1-6:i386 libunistring2:i386 libwind0-heimdal:i386
>     Use 'sudo apt autoremove' to remove them.
>     0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
>     Creating user daemon service directory
>     Starting user daemon service

Any pointers would be very much appreciated, as I’m really starting to run in circles here…

Cheers,
Ryan

Ok. I’ve got it to work with correct robot models by adding the path to the xmlrpc libraries installed with install.sh
ldconfig -n /opt/urtool-3.0/lib
I still get incorrect models if I click on the the shortcuts initially, but if I run “bash start-ursim.sh UR10” for each robot arm first, I get the “could not save “default”” error as before, but if I initialize and quit, the desktop icons for each robot then open and work as expected.

Will followup if I hit more snags…

Hey Ryan

How did you go about installing ursim on ubuntu 18. I’ve been at it for a few days now, and i haven’t found i solution, so now I’ll reinstall ubuntu.
Do you have a step-by-step by any chance.
Any help is appreiciated

-Kasper

SOLVED my issue

in file starturcontrol.sh i added ‘sudo HOME=$SCRIPT_DIR …’

1 Like

Hi ryan
How did you solve the problem about "could not save “default”” error?
I also got this error message and I literally cannot save my file(.urp)

Hi hotae.lee

i just had the same problem as you, but you can create a folder named “programs” inside the ursim folder

and then restart your software.

Regards

Thanks for your help. But, I already did it and it didn’t work for my case.
Also, my directory path is /home/hotae/ursim-5.4.2.76197. But when I checked most cases, they have /home/ur/usim-current.
Does it affect my problem?
In addition, did you use sudo ./start-ursim.sh or ./start-ursim.sh?

I am so sad to create ‘programs’ manually, but it didn’t work. haha…
Thanks for your help and if you have other ideas, let me know.
I appreciate your help.

Hi Again

Now i get your problem, you have customized the accounts of the ubuntu machine, the ./start-ursim.sh only works for the user “ur”.
If you change the account name you must also change the script, so i would recommend to change back to the original user name in the ubuntu machine.

Regards

Thank you so much for your help.
Does it mean that I have to create ‘ur’ user( e.g. ‘adduser’) and run it there?
I didn’t change anything of the account name.
My default user is ‘hotae’ and just downloaded .gz to my home folder of hotae user.
So, could you explain what “change back to the original user name” mean?

If you had already a linux machine, you have to run the ./install.sh script, if that does not work, you can create a new user called “ur” and run it there, otherwise you have to change the ./start-ursim.sh and put your user name inside the script.

Regards

I already have a linux machine with username ‘hotae’. But, it didn’t work. So, I create a new user named ‘ur’ and run it there. But, it said AUTHENTICATION FAILED. I attached it below.
I am sorry to bother you. But, it looked like it requires the super user to run install.sh and start-ursim.sh
What should I do?

What i recommend is to dowload the complete virtual machine from universal robots, you can use it with VMWare, there you have a super user already configured and also everything comes configured, i think that would be the best solution, otherwise you need super user rights to run this two scripts.

Best Regards

It has to be done the follows to use the ursim without problem.

  1. User name is “ur”.
  2. Host name is “ursim”
  3. Ursim directory is “/home/ur/ursim/ursim-{version}”

Thank you so much. I wanna develop ursim with using ROS as well. So, I just wanna install this on my linux machine, not VMware.
But, thanks for your recommendation.
If you know other resolution to solve this problem, let me know it.

Did you just use your linux machine? not VMware?
So, your installation step is

  1. make a new user named ‘ur’
  2. make ‘ursim’ directory by yourself
  3. download .gz file from website and run it as the guide says
    is it right?
    Did you run all the process without sudo ?

I set hostname and username at first when ubuntu OS was installed on VMWare.
I downloaded linux version ursim and installed this.

When I installed ursim, I act ./install.sh without sudo.
But sometimes it is asked to input sudo password.

Will you please check the following link written by @jbm ?

Thanks very much. I think the biggest difference is from whether we use VMware or not.
I installed it on my ubuntu machine directly and its hostname is not compatible with ursim.
After I changed my hostname, it worked!! Thanks very much.