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I am running ROS2 Humble and am unable to launch my robot arm when using the yaml file in my robot description files. When I launch my gazebo.launch.py file, first I get an error telling me: "process has died [pid ####, exit code 255, cmd 'gzserver-slibgazeo_ros_inti.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so"].

Then, the launch appears to get hung-up on: [spawn_entity]: Calling service /spawn_entity.

The files are located like this:

rad_ws
     |
     -agbot_controller
          |
          -agbot_arm_controllers.yaml
     |
     -agbot_description
          |
          -launch
               |
               -agbot_arm_gazebo.launch.py
          |
          -urdf
               |
               -agbot_arm_gazebo.xacro
               -agbot_arm_ros2_control.xacro
               -agbot_arm.urdf.xacro
               -common_properties.xacro

This is the printout from the command prompt:

$ ros2 launch agbot_description agbot_arm_gazebo.launch.py
[INFO] [launch]: All log files can be found below /home/<name>/.ros/log/2024-08-05-15-12-33-847895-<name>-humble-46747
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [46774]
[INFO] [gzclient-2]: process started with pid [46776]
[INFO] [robot_state_publisher-3]: process started with pid [46778]
[INFO] [joint_state_publisher-4]: process started with pid [46780]
[INFO] [spawn_entity.py-5]: process started with pid [46782]
[robot_state_publisher-3] [INFO] [1722888757.807251488] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1722888757.809209275] [robot_state_publisher]: got segment base_plate
[robot_state_publisher-3] [INFO] [1722888757.809238379] [robot_state_publisher]: got segment claw_support
[robot_state_publisher-3] [INFO] [1722888757.809256654] [robot_state_publisher]: got segment forward_drive_arm
[robot_state_publisher-3] [INFO] [1722888757.809272541] [robot_state_publisher]: got segment gripper_left
[robot_state_publisher-3] [INFO] [1722888757.809287732] [robot_state_publisher]: got segment gripper_right
[robot_state_publisher-3] [INFO] [1722888757.809302495] [robot_state_publisher]: got segment horizontal_arm
[robot_state_publisher-3] [INFO] [1722888757.809317909] [robot_state_publisher]: got segment rgb_camera
[robot_state_publisher-3] [INFO] [1722888757.809333502] [robot_state_publisher]: got segment rgb_camera_optical
[robot_state_publisher-3] [INFO] [1722888757.809347551] [robot_state_publisher]: got segment world
[ERROR] [gzserver-1]: process has died [pid 46774, exit code 255, cmd 'gzserver -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[joint_state_publisher-4] [INFO] [1722888758.440425625] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[spawn_entity.py-5] [INFO] [1722888758.529314499] [spawn_entity]: Spawn Entity started
[spawn_entity.py-5] [INFO] [1722888758.529869639] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-5] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-5]   warnings.warn(
[spawn_entity.py-5] [INFO] [1722888758.532804003] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-5] [INFO] [1722888758.545007329] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-5] [INFO] [1722888758.546015708] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-5] [INFO] [1722888758.555230062] [spawn_entity]: Calling service /spawn_entity

The process does not go beyond this point. Below are the relevant files....

This is the urdf.xacro file...

<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="agbot_arm">


    <xacro:property name = "forward_drive_arm_length" value = "1.00" />
    <xacro:property name = "forward_drive_arm_width" value = "0.26" />
    <xacro:property name = "forward_drive_arm_height" value = "0.02" />
    <xacro:property name = "horizontal_arm_length" value = "0.750" />
    <xacro:property name = "horizontal_arm_width" value = "0.26" />
    <xacro:property name = "horizontal_arm_height" value = "0.02" />  

    <!-- Include Gazebo Parameters -->
    <xacro:include filename="$(find agbot_description)/urdf/agbot_arm_gazebo.xacro" />

    <!-- Include ros2_control Plugins -->
    <xacro:include filename="$(find agbot_description)/urdf/agbot_arm_ros2_control.xacro" />

    <xacro:include filename="$(find agbot_description)/urdf/common_properties.xacro" />

    <!-- Useful XACRO Variables (Properties) -->
    <xacro:property name="PI" value="3.14159265359" />
    <xacro:property name="effort" value="30.0" />
    <xacro:property name="velocity" value="10.0" />
    <xacro:property name="scale" value="0.0075 0.0075 0.0075"/>

    <!-- Useful Macros -->
    <xacro:macro name="default_inertia" params="mass">
        <inertial>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <mass value="${mass}" />
            <inertia ixx="1.0" ixy="0.0" ixz="0.0"
                     iyy="1.0" iyz="0.0"
                     izz="1.0" />
        </inertial>
    </xacro:macro>

    <xacro:macro name="default_transmission" params="name">
        <transmission name="${name}_transmission">
            <plugin>transmission_interface/SimpleTransmission</plugin>
            <actuator name="{name}_motor" role="actuator1"/>
            <joint name="{name}_joint" role="joint1">
                <mechanical_reduction>1.0</mechanical_reduction>
            </joint>
        </transmission>
    </xacro:macro>

    <!-- Link Descriptions -->
    <link name="world"/>

    <link name="base_link">
        <xacro:default_inertia mass="1.0"/>
        <visual>
            <origin xyz="-0.35 -0.37 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="file://$(find agbot_description)/meshes/basement.STL" scale="${scale}"/>
            </geometry>
            <material name="blue"/>
        </visual>
        <collision>
            <origin xyz="-0.35 -0.37 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="file://$(find agbot_description)/meshes/basement.STL" scale="${scale}"/>
            </geometry> 
        </collision>      
    </link>

    <link name="base_plate">
        <xacro:default_inertia mass="0.1"/>
         <visual>
            <origin xyz="-0.261 -0.295 -0.5" rpy="0 0 0"/>
            <geometry>
                <mesh filename="file://$(find agbot_description)/meshes/base_plate.STL" scale="${scale}"/>
            </geometry>
            <material name="red"/>
        </visual>
        <collision>
            <origin xyz="-0.261 -0.295 -0.5" rpy="0 0 0"/>
            <geometry>
                <mesh filename="file://$(find agbot_description)/meshes/base_plate.STL" scale="${scale}"/>
            </geometry> 
        </collision>
    </link>   

    <link name="forward_drive_arm">
        <xacro:default_inertia mass="0.1"/>
        <visual>
            <origin xyz="0.01 -0.006 0.55" rpy="0 ${PI / 2} ${PI / 2}"/>
            <geometry>
                <box size="${forward_drive_arm_length} ${forward_drive_arm_width} ${forward_drive_arm_height}" />
            </geometry>
            <material name="yellow"/>
        </visual>
        <collision>
            <origin xyz="0.01 0.006 0.55" rpy="0 -${PI / 2} ${PI / 2}"/>
            <geometry>
                <box size="${forward_drive_arm_length} ${forward_drive_arm_width} ${forward_drive_arm_height}" />
            </geometry> 
        </collision>
    </link>

    <link name="horizontal_arm">
        <xacro:default_inertia mass="0.1"/>
        <visual>
            <origin xyz="0.1 0 0.37" rpy="0 ${PI / 2} ${PI / 2}"/>
            <geometry>
                <box size="${horizontal_arm_length} ${horizontal_arm_width} ${horizontal_arm_height}" />
            </geometry>
            <material name="green"/>
        </visual>
        <collision>
            <origin xyz="0.1 0 0.37" rpy="0 ${PI / 2} ${PI / 2}"/>
            <geometry>
                <box size="${horizontal_arm_length} ${horizontal_arm_width} ${horizontal_arm_height}" />
            </geometry> 
        </collision>
    </link>   

    <link name="claw_support">
        <xacro:default_inertia mass="0.05"/>
        <visual>
            <origin xyz="-.1 0 0" rpy="0 -${PI/2} -${PI / 2}"/>
            <geometry>
                <mesh filename="file://$(find agbot_description)/meshes/claw_support.STL" scale="${scale}"/>
            </geometry>
            <material name="pink"/>
        </visual>
        <collision>
            <origin xyz="-.1 0 0" rpy="0 -${PI/2} -${PI / 2}"/>
            <geometry>
                <mesh filename="file://$(find agbot_description)/meshes/claw_support.STL" scale="${scale}"/>
            </geometry> 
        </collision>
    </link>    

    <link name="gripper_right">
        <xacro:default_inertia mass="0.01"/>
        <visual>
            <origin xyz="0.078 0.005 0.36" rpy="0 ${PI / 2} ${PI / 2}"/>
            <geometry>
                <mesh filename="file://$(find agbot_description)/meshes/right_finger.STL" scale="${scale}"/>
            </geometry>
            <material name="purple"/>
        </visual>
        <collision>
            <origin xyz="0.078 0.005 0.36" rpy="0 ${PI / 2} ${PI / 2}"/>
            <geometry>
                <mesh filename="file://$(find agbot_description)/meshes/right_finger.STL" scale="${scale}"/>
            </geometry> 
        </collision>
    </link>

    <link name="gripper_left">
        <xacro:default_inertia mass="0.01"/>
        <visual>
            <origin xyz="0.03 0.005 0.36" rpy="0 ${PI / 2} ${PI / 2}"/>
            <geometry>
                <mesh filename="file://$(find agbot_description)/meshes/left_finger.STL" scale="${scale}"/>
            </geometry>
            <material name="purple"/>
        </visual>
        <collision>
            <origin xyz="0.03 0.005 0.36" rpy="0 ${PI / 2} ${PI / 2}"/>
            <geometry>
                <mesh filename="file://$(find agbot_description)/meshes/left_finger.STL" scale="${scale}"/>
            </geometry> 
        </collision>
    </link>     

    <link name="rgb_camera_optical" >
    </link> 

    <link name="rgb_camera">
        <xacro:default_inertia mass="0.001"/>
        <visual>
            <origin xyz="-0.07 -0.105 0.095" rpy="0 ${PI/2} 0"/>
            <geometry>
                <mesh filename="file://$(find agbot_description)/meshes/pi_camera.STL" scale="${scale}"/>
            </geometry>
            <material name="blue"/>
        </visual>
        <collision>
            <origin xyz="-0.07 -0.105 0.095" rpy="0 ${PI/2} 0"/>
            <geometry>
                <mesh filename="file://$(find agbot_description)/meshes/pi_camera.STL" scale="${scale}"/>
            </geometry> 
        </collision>
    </link>

    <!-- Joint Descriptions -->
    <joint name="virtual_joint" type="fixed">
        <parent link="world"/>
        <child link="base_link"/>
        <origin xyz="0 0 0" rpy="0 0 ${PI/2}"/>
    </joint> 

    <joint name ="base_joint" type="revolute">
        <parent link="base_link"/>
        <child link = "base_plate"/>
        <origin xyz="0 0 0.309"/>
        <axis xyz="0 0 1"/>
        <limit lower="-${PI}" upper="${PI}" 
               effort="${effort}" velocity="${velocity}"/>
    </joint> 

    <joint name="shoulder_joint" type="revolute">
        <parent link="base_plate"/>
        <child link="forward_drive_arm"/>
        <origin xyz="0 0.006 0.23" rpy="-2.0 0 0"/>
        <axis xyz="1 0 0"/>
        <limit lower="0" upper="4.0" effort="${effort}" velocity="${velocity}"/>
    </joint>    
    
    <joint name="elbow_joint" type="revolute">
        <parent link="forward_drive_arm"/>
        <child link="horizontal_arm"/>
        <origin xyz="0.27 0 1.07" rpy="-${PI} 0 0"/>
        <axis xyz="1 0 0"/>
        <limit lower="-${PI}" upper="0" effort="${effort}" velocity="${velocity}"/>
    </joint>     

    <joint name="wrist_joint" type="revolute">
        <parent link="horizontal_arm"/>
        <child link="claw_support"/>
        <origin xyz="0.05 0 ${horizontal_arm_length}" /> 
        <axis xyz="1 0 0"/>
        <limit lower="-${PI / 2}" upper="${PI / 2}" effort="${effort}" velocity="${velocity}"/>
    </joint>     

    <joint name="gripper_right_joint" type="revolute">
        <parent link="claw_support"/>
        <child link="gripper_right"/>
        <origin xyz="-.075 -.03 0.175"/> 
        <axis xyz="0 1 0"/>
        <limit lower="-${PI / 2}" upper="0.0" effort="${effort}" velocity="${velocity}"/>
    </joint> 

    <joint name="gripper_left_joint" type="revolute">
        <mimic joint="gripper_right_joint" multiplier="-1"/> 
        <parent link="claw_support"/>
        <child link="gripper_left"/>
        <origin xyz="0.065 -.03 0.175"/> 
        <axis xyz="0 1 0"/>
        <limit lower="0.0" upper="${PI / 2}" effort="${effort}" velocity="${velocity}"/>
    </joint>   

    <joint name="camera_optical_joint" type="fixed">
        <parent link="claw_support"/>
        <child link="rgb_camera_optical"/>
        <origin xyz = "0 .22 0.2" rpy = "0 0 0" />
    </joint> 

    <joint name = "rgb_camera_joint" type = "fixed" >        
        <parent link = "rgb_camera_optical" />
        <child link = "rgb_camera" />
        <origin xyz="0 0 0" rpy="${PI/2} -${PI/2} -${PI/2}"/>
    </joint> 

 
    <xacro:default_transmission name="base_joint" />
    <xacro:default_transmission name="shoulder_joint" />
    <xacro:default_transmission name="elbow_joint" />
    <xacro:default_transmission name="wrist_joint" />
    <xacro:default_transmission name="gripper_right_joint" />


</robot>

This is the gazebo.xacro file...

<?xml version="1.0" encoding="utf-8"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="agbot_arm">

  <xacro:property name="PI" value="3.141592653589793238464" />

  <!-- Gazebo ros2_control plugin -->
  <gazebo>
    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
      <robot_param>robot_description</robot_param>
      <robot_param_node>robot_state_publisher</robot_param_node>
      <parameters>$(find agbot_arm_controller)/config/agbot_arm_controllers.yaml</parameters>
    </plugin>
  </gazebo>

  <gazebo reference="rgb_camera">
    <sensor name="camera_sensor" type="camera">
      <pose>0 0 0 0 0 0</pose>
      <visualize>true</visualize>
        <update_rate>60.0</update_rate>
      <plugin filename="libgazebo_ros_camera.so" name="camera_controller">
        <frame_name>rgb_camera_optical</frame_name>
      </plugin>
    </sensor>
  </gazebo>  

  <gazebo reference="base_link">
    <material>Gazebo/Blue</material>
  </gazebo>
    
  <gazebo reference="base_plate">
    <material>Gazebo/Red</material>
  </gazebo>
    
  <gazebo reference="forward_drive_arm">
    <material>Gazebo/Yellow</material>
  </gazebo> 
    
  <gazebo reference="horizontal_arm">
    <material>Gazebo/Green</material>
  </gazebo> 
    
  <gazebo reference="claw_support">
    <material>Gazebo/Yellow</material>
  </gazebo> 

  <gazebo reference="gripper_right">
    <material>Gazebo/Purple</material>
  </gazebo> 

  <gazebo reference="gripper_left">
    <material>Gazebo/Purple</material>
  </gazebo> 
  
  <gazebo reference="rgb_camera">
    <material>Gazebo/Blue</material>
  </gazebo>

</robot>

This is the control.xacro file...

<?xml version="1.0" encoding="utf-8"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="agbot_arm">

    <ros2_control name="RobotSystem" type="system">

        <xacro:property name="PI" value="3.14159265359" />

        <!-- ros2_control Gazebo -->
        <hardware>
            <plugin>gazebo_ros2_control/GazeboSystem</plugin>
            <param name="position_state_following_offset">0.0</param>
        </hardware>


        <joint name="base_joint">
            <command_interface name="position">
                <param name="min">-${PI}</param>
                <param name="max">${PI}</param>
            </command_interface>
            <state_interface name="position"/>
        </joint>      

        <joint name="shoulder_joint">
            <command_interface name="position">
                <param name="min">0</param>
                <param name="max">4</param>
            </command_interface>
            <state_interface name="position"/>
        </joint>      
        
        <joint name="elbow_joint">
            <command_interface name="position">
                <param name="min">-${PI}</param>
                <param name="max">0</param>
            </command_interface>
            <state_interface name="position"/>
        </joint>          

        <joint name="wrist_joint">
            <command_interface name="position">
                <param name="min">-${PI/2}</param>
                <param name="max">${PI/2}</param>
            </command_interface>
            <state_interface name="position"/>
        </joint>    
        
        <joint name="gripper_right_joint">
            <command_interface name="position">
                <param name="min">-${PI/2}</param>
                <param name="max">0</param>
            </command_interface>
            <state_interface name="position"/>
        </joint>   
        
        <joint name="gripper_left_joint">
            <param name="mimic">gripper_right_joint</param>  
            <param name="multiplier">-1</param>
            <command_interface name="position">
                <param name="min">0</param>
                <param name="max">${PI/2}</param>
            </command_interface>
        </joint>         

    </ros2_control>

</robot>

This is the controllers.yaml file...

controller_manager:
      
      ros__parameters:
        update_rate: 100 # Hz
    
        arm_controller:
          type: joint_trajectory_controller/JointTrajectoryController
    
        gripper_controller:
          type: joint_trajectory_controller/JointTrajectoryController
    
        joint_state_broadcaster:
          type: joint_state_broadcaster/JointStateBroadcaster
    
    arm_controller:
      ros__parameters:
        joints:
          - base_joint
          - shoulder_joint
          - elbow_joint
          - wrist_joint
    
        command_interfaces:
          - position
    
        state_interfaces:
          - position
    
        open_loop_control: true
        allow_integration_in_goal_trajectories: true
    
    gripper_controller:
      ros__parameters:
        joints:
          - gripper_right_joint
          
        command_interfaces:
          - position
    
        state_interfaces:
          - position
    
        open_loop_control: true
        allow_integration_in_goal_trajectories: true

This is the common properties file. It's just a bunch of colors for rviz to use.

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

    <!-- Init colour -->
    <material name="black">
        <color rgba="0.0 0.0 0.0 1.0"/>
    </material>

    <material name="dark">
        <color rgba="0.3 0.3 0.3 1.0"/>
    </material>

    <material name="light_black">
        <color rgba="0.4 0.4 0.4 1.0"/>
    </material>

    <material name="blue">
        <color rgba="0.0 0.0 0.8 1.0"/>
    </material>

    <material name="green">
        <color rgba="0.0 0.8 0.0 1.0"/>
    </material>

    <material name="grey">
        <color rgba="0.5 0.5 0.5 1.0"/>
    </material>

    <material name="orange">
        <color rgba="1.0 0.4235 0.0392 1.0"/>
    </material>

    <material name="brown">
        <color rgba="0.8706 0.8118 0.7647 1.0"/>
    </material>

    <material name="red">
        <color rgba="0.8 0.0 0.0 1.0"/>
    </material>

    <material name="white">
        <color rgba="1.0 1.0 1.0 1.0"/>
    </material>  

    <material name="yellow">
        <color rgba="1.0 0.93 0.7 1" />
    </material>   
    
    <material name="purple">
        <color rgba="0.4 0.23 0.72 1" />
    </material>  

    <material name="turquoise" >
        <color rgba="0.05 0.737 0.690 1.0" />
    </material>  

    <material name="skyblue" >
        <color rgba="0.2 1.0 1.0" />
    </material>   
    
    <material name="pink" >
        <color rgba="1.0 0 1.0 1.0" />
    </material>        

</robot>

And this is the launch file...

    import os
from os import pathsep
from ament_index_python.packages import get_package_share_directory, get_package_prefix

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, SetEnvironmentVariable
from launch.substitutions import Command, LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource

from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue


def generate_launch_description():
    
    agbot_arm_description = get_package_share_directory('agbot_description')
    agbot_arm_description_share = get_package_prefix('agbot_description')
    gazebo_ros_dir = get_package_share_directory('gazebo_ros')
    
    model_arg = DeclareLaunchArgument(name='model', default_value=os.path.join(
                                        agbot_arm_description, 'urdf', 'agbot_arm.urdf.xacro'
                                        ),
                                      description='Absolute path to robot urdf file'
    )    
    
    model_path = os.path.join(agbot_arm_description, "models")
    model_path += pathsep + os.path.join(agbot_arm_description_share, "share")
    
    env_var = SetEnvironmentVariable("GAZEBO_MODEL_PATH", model_path)    
   
    robot_description = ParameterValue(Command(['xacro ', LaunchConfiguration('model')]),
                                       value_type=str)
    
    robot_state_publisher_node = Node(
        package="robot_state_publisher",
        executable="robot_state_publisher",
        parameters=[{"robot_description": robot_description},
                    {"use_sim_time": True}]
    )       
    
    joint_state_publisher_node = Node(
        package = 'joint_state_publisher',
        executable = 'joint_state_publisher',
        name = 'joint_state_publisher',
        parameters =[
            {'source_list':['joint_state_broadcaster/joint_states'],
             'rate' : 20.0
                }]
        )    
    
    world = os.path.join(
        get_package_share_directory('agbot_description'),
        'worlds',
        'empty_world.world'
    )     
    
    start_gazebo_server = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(gazebo_ros_dir, 'launch', 'gzserver.launch.py')
        ),
        # launch_arguments={'world': world}.items()
    )    

    start_gazebo_client = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(gazebo_ros_dir, 'launch', 'gzclient.launch.py')
        )
    )
    
    spawn_robot = Node(package='gazebo_ros', 
                       executable='spawn_entity.py',
                       arguments=['-entity', 
                                  'agbot_arm', 
                                  '-topic', 
                                  'robot_description'
                                  ],
                       output='screen'
    )

    return LaunchDescription([
        env_var,
        model_arg,       
        start_gazebo_server,
        start_gazebo_client,         
        robot_state_publisher_node, 
        joint_state_publisher_node,               
        spawn_robot
    ])

I have searched online for an answer, but nothing I try seems to work. Oddly (?) when I comment out the line "$(find agbot_arm_controller)/config/agbot_arm_controllers.yaml" in the gazebo.xacro file, gazebo starts with the arm in the correct position and then gravity will make the robot arm collapse. When I leave the yaml file in the gazebo.xacro file, gazebo starts, but the robot does not feel the effects of gravity. This issue has been driving me nuts for a week now. I would be extremely grateful to anyone who can help me with this!! Thanks, in advance for any and all assistance.

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1 Answer 1

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$\begingroup$ 
ps -a

If your output is like this then there is a gazebo server running background: Example Output

Then you can kill the processes with:

kill -9 [pid]

Example:

kill -9 37443
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  • $\begingroup$ That seems to have done the trick!! THANKS!!! I would have thought that [CTRL]-C would kill all the processes, but apparently not. $\endgroup$
    – Albert
    Commented Aug 6 at 16:53
  • $\begingroup$ Usually they do, but sometimes it causes problems if it's not shutdown properly like in your case. You're welcome... $\endgroup$
    – yigitboracagiran
    Commented Aug 7 at 5:04
  • $\begingroup$ Given that the answer solved your problem you can mark the answer as accepted if you want :) $\endgroup$
    – yigitboracagiran
    Commented Aug 9 at 7:32

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