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Home > Troubleshooting > URsim No Controller on Ubuntu 18
Jen

On both the CB series and e series version of URsim for linux I get "URControl: no process found" and  "WARN  - Not connected to controller, trying to send string:" and cannot start the controller from the GUI. I ran ./install.sh and it seemed to work fine (other than uninstalling ROS which is a separate issue) and the GUI seems to launch with no other issues. Did I miss something during the installation? I've installed URsim on ubuntu 16 with no issues so I was wondering if other ubuntu 18 users have faced similar problems.

zoom
Jen

So I got the CB URsim working I think by running  sudo apt install libxmlrpc-c++8-dev:i386 (based off of an error message in the URcontol.log file) but so far the e series URsim does not work. The only error I see in the URcontrol.log file for that one is
terminate called after throwing an instance of 'std::runtime_error'
  what():  PThread::start FATAL: Cannot spawn thread. Error code: 11 (Resource temporarily unavailable)

Again, it works perfectly on Ubuntu 16 (on a different computer) so I'm not sure whether my computer or Ubuntu 18 is the issue
David_Gouffe

Hi, 

This is a guess but maybe you need to be in simulation mode. This can be changed by toggling on the virtual teach pendant at the bottom right corner toggle switch named "Simulation". 

This would be logical if you do not have the physical controller to manage.

Let us know if it solves the problem. 

Regards.
feng

Hi,

My ubuntu 18 also meets that problem. Please let me know if the problem solved.

BR
wvalcke

Linut mint 19.2, 64 bit version.
Same problem, when starting via start-ursim.sh it does not launch the URControl process for some obscure reason.
The dependencies are checked and all libraries are available for the URControl binary (use of ldd).
Running URControl via URControl -h displays nicely the help page of the software. 
But running via the ursim script does not work.....
David_Gouffe

Hi, 

It seems alike a dependency or a launch sequence command missing. Must be outside of the stated dependencies. Something alike runtime variable to be set or allocated. 

Hope this give a lead. 

Regards.
Rony

HI,

I have also had the same problem on ubuntu 19, as a solution you could try "./stopurcontrol.sh" , "./starturcontrol.sh" and  ."/install.sh". Otherwise, you could work with the VM on ubuntu 18.

Best Regards.
wvalcke

I investigated this more and found the real solution.
When the software is installed, it has created under /opt a folder urtool-3.0 with some libs and bins.
The current simulation software is 32 bit, most Linux installations are now 64 bit. The simulator installs some 32 bit dependent libraries under /opt/urtool-3.0.
The software URControl for example needs libs from this /opt/urtool-3.0 folder.
Ok, now what about the script start-ursim.sh ? Normally you should run ./start-ursim.sh UR3 for example to start the simulator.
But on recent Linux distributions it fails to run the URControl, and you end up with a non working simulator, compaining about 'No controller'.
This script is running internally 2 sub scripts, namely stopurcontrol.sh and starturcontrol.sh.
The first script kills the URControl software, the seconds is aimed at starting URControl. But the start script DOES NOT RUN the URControl software.
When runing the script it just fails to start, and this happens as well with the virtual machine simulator version. 
I even removed the calling of the script (starturcontrol.sh) inside the start-ursim.sh. And guess .... when doing this in the virtual machine version, the software still starts correctly. Checking afterwards shows that the URControl is running...so something else starts the URControl. Probably this is started from the java software.
Now back to recent Linux distributions,like Linux min 19.2 : 
Thinking about how the URControl is started now, it is logic that on recent Linux distributions this will fail, as running start-ursim.sh UR3 for example has no environment telling where the dependent libs need for URControl are on your system !
Now running the following command : LD_LIBRARY_PATH=/opt/urtool-3.0/lib ./start-ursim.sh UR3
Tada... Software starts up correctly and runs fine.....
P.S. Do  not forget to have a java inside your PATH which is fairly recent (i used java runtime 1.8.0)
yangbenbo

Hello,I solve the problem by using "sudo ./start-ursim.sh".I think maybe the program need some super rights for the first time.
ps: I can use the offline simulator before update the kernel of ubuntu16.04, and now I can use it again.

wvalcke said:
I investigated this more and found the real solution.
When the software is installed, it has created under /opt a folder urtool-3.0 with some libs and bins.
The current simulation software is 32 bit, most Linux installations are now 64 bit. The simulator installs some 32 bit dependent libraries under /opt/urtool-3.0.
The software URControl for example needs libs from this /opt/urtool-3.0 folder.
Ok, now what about the script start-ursim.sh ? Normally you should run ./start-ursim.sh UR3 for example to start the simulator.
But on recent Linux distributions it fails to run the URControl, and you end up with a non working simulator, compaining about 'No controller'.
This script is running internally 2 sub scripts, namely stopurcontrol.sh and starturcontrol.sh.
The first script kills the URControl software, the seconds is aimed at starting URControl. But the start script DOES NOT RUN the URControl software.
When runing the script it just fails to start, and this happens as well with the virtual machine simulator version. 
I even removed the calling of the script (starturcontrol.sh) inside the start-ursim.sh. And guess .... when doing this in the virtual machine version, the software still starts correctly. Checking afterwards shows that the URControl is running...so something else starts the URControl. Probably this is started from the java software.
Now back to recent Linux distributions,like Linux min 19.2 : 
Thinking about how the URControl is started now, it is logic that on recent Linux distributions this will fail, as running start-ursim.sh UR3 for example has no environment telling where the dependent libs need for URControl are on your system !
Now running the following command : LD_LIBRARY_PATH=/opt/urtool-3.0/lib ./start-ursim.sh UR3
Tada... Software starts up correctly and runs fine.....
P.S. Do  not forget to have a java inside your PATH which is fairly recent (i used java runtime 1.8.0)

I find that the script knows the path of the lib."export LD_LIBRARY_PATH=/opt/urtool-3.0/lib".Probable because I use a newer offline simulator(ursim-5.2.0)

jambonum5

Thanks for the pointer here, I managed to narrow this down a little more. I was able to run sudo starturcontrol.sh script to fix this. Given this fix wasn't persisting after reboot, I added the following to my crontab to ensure URCONTROL was present when start-ursim runs as a non root user.

@reboot /opt/ursim-3.15.4.106291/starturcontrol.sh