robo-gym: Failed to add Robot Server

Hello there,

I am getting an error which is described below. I don’t know where I am doing something wrong so I am describing steps that were followed by me.

Steps I followed: Created new ROS workspace and Installed this.

`sudo apt-get update && sudo apt-get install apt-utils build-essential psmisc vim-gtk git swig sudo libcppunit-dev python3-catkin-tools python3-rosdep python3-pip python3-rospkg python3-future python3-osrf-pycommon`

export ROBOGYM_WS=~/robogym_ws 
# Set ROS distribution
export ROS_DISTRO=noetic

1. robo-gym Side: Installed and cloned robo-gym to workspace

git clone https://github.com/jr-robotics/robo-gym.git
cd robo-gym
pip install -e .

1. robo-gym-robot-servers side:

mkdir -p $ROBOGYM_WS/src && cd $ROBOGYM_WS/src && git clone https://github.com/jr-robotics/robo-gym-robot-servers.git

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Installed Mir_robots: I wanted to work on Mir robot so I have selected package only of MIR

source /opt/ros/$ROS_DISTRO/setup.bash &&\
git clone -b $ROS_DISTRO https://github.com/jr-robotics/mir_robot.git
git clone https://github.com/orocos/orocos_kinematics_dynamics &&\
cd orocos_kinematics_dynamics && git checkout b35c424e77ebc5b7e6f1c5e5c34f8a4666fbf5bc &&\
cd $ROBOGYM_WS &&\
sudo apt-get update &&\
sudo rosdep init && rosdep update &&\
rosdep install --from-paths src -i -y --rosdistro $ROS_DISTRO &&\
catkin init &&\
catkin build &&\
pip3 install robo-gym-server-modules scipy numpy &&\
pip3 install --upgrade protobuf

printf "source /opt/ros/$ROS_DISTRO/setup.bash\nsource $ROBOGYM_WS/devel/setup.bash" >> ~/.bashrc

Executed launch file:

roslaunch mir100_robot_server sim_robot_server.launch gui:=true

Error after executing launch file:

[ INFO] [1623322306.654373634, 29.223000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1623322306.773747305, 29.223000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/left_wheel_joint
[ERROR] [1623322306.774911554, 29.223000000]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/right_wheel_joint
[ INFO] [1623322306.780790427, 29.223000000]: Loaded gazebo_ros_control.
[INFO] [1623322307.009624, 29.766000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1623322307.014538, 29.779000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1623322307.019118, 29.787000]: Loading controller: joint_state_controller
[INFO] [1623322307.031260, 29.815000]: Loading controller: mobile_base_controller
[ERROR] [1623322307.038120713, 29.828000000]: Could not load controller 'mobile_base_controller' because controller type 'diff_drive_controller/DiffDriveController' does not exist.
[ERROR] [1623322307.038229137, 29.829000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[spawn_urdf-3] process has finished cleanly
log file: /home/kuka-ai/.ros/log/d7e63ff8-c9d9-11eb-b011-7f7aed33a77c/spawn_urdf-3*.log
[ERROR] [1623322308.039793, 32.451000]: Failed to load mobile_base_controller
[INFO] [1623322308.044185, 32.463000]: Controller Spawner: Loaded controllers: joint_state_controller

1. robo-gym-server-modules: I did pip install robo-gym-server-modules, check start-server-manager && attach-to-server-manager working okay.

To execute::

Started: start-server-manager && attach-to-server-manager Run sample file in : python src/robo-gym/docs/examples/random_agent_sim.py

2021-06-10 11:33:06,352 - serverManager - INFO - Starting Robot Server...
2021-06-10 11:33:16,461 - serverManager - INFO - Trying to get state from Robot Server...
2021-06-10 11:33:16,461 - serverManager - INFO - Tentative 0 of 20
2021-06-10 11:33:16,483 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:33:21,488 - serverManager - INFO - Tentative 1 of 20
2021-06-10 11:33:21,537 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:33:26,541 - serverManager - INFO - Tentative 2 of 20
2021-06-10 11:33:26,562 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:33:31,568 - serverManager - INFO - Tentative 3 of 20
2021-06-10 11:33:31,589 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:33:36,595 - serverManager - INFO - Tentative 4 of 20
2021-06-10 11:33:36,669 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:33:41,675 - serverManager - INFO - Tentative 5 of 20
2021-06-10 11:33:41,696 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:33:46,701 - serverManager - INFO - Tentative 6 of 20
2021-06-10 11:33:46,723 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:33:51,728 - serverManager - INFO - Tentative 7 of 20
2021-06-10 11:33:51,808 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:33:56,814 - serverManager - INFO - Tentative 8 of 20
2021-06-10 11:33:56,836 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:34:01,841 - serverManager - INFO - Tentative 9 of 20
2021-06-10 11:34:01,863 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:34:06,868 - serverManager - INFO - Tentative 10 of 20
2021-06-10 11:34:06,890 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:34:11,895 - serverManager - INFO - Tentative 11 of 20
2021-06-10 11:34:11,917 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:34:16,921 - serverManager - INFO - Tentative 12 of 20
2021-06-10 11:34:16,942 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:34:21,947 - serverManager - INFO - Tentative 13 of 20
2021-06-10 11:34:21,969 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:34:26,975 - serverManager - INFO - Tentative 14 of 20
2021-06-10 11:34:27,011 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:34:32,016 - serverManager - INFO - Tentative 15 of 20
2021-06-10 11:34:32,038 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:34:37,044 - serverManager - INFO - Tentative 16 of 20
2021-06-10 11:34:37,096 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:34:42,101 - serverManager - INFO - Tentative 17 of 20
2021-06-10 11:34:42,123 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:34:47,129 - serverManager - INFO - Tentative 18 of 20
2021-06-10 11:34:47,164 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:34:52,170 - serverManager - INFO - Tentative 19 of 20
2021-06-10 11:34:52,191 - serverManager - INFO - Waiting 5s before next tentative ...
2021-06-10 11:34:57,196 - serverManager - ERROR - Could not start Robot Server
NoneType: None
2021-06-10 11:34:57,197 - serverManager - ERROR - Failed to add Robot Server
Traceback (most recent call last):
  File "/home/kuka-ai/robo-gym-server-modules/robo_gym_server_modules/server_manager/server.py", line 119, in StartNewServer
    assert isinstance(rl_server, int)
AssertionError
2021-06-10 11:34:57,199 - serverManager - INFO - Starting Robot Server...