General Remarks

Jupyter Notebooks & PyCharm

If you have the situation that you activate your venv that has rospy installed and launched PyCharm from the console you’ll run into trouble using jupyter notebooks. PyCharm allows you to correctly set up the jupyter server, however the notebook will always use your /usr/bin/python as interpreter and you can’t select the correct one in the drop down menu.

To fix this issue one has to execute

python -m ipykernel install --user --name <kernel_name> --display-name "<Name_to_display>"

, eg.

python -m ipykernel install --user --name pycram --display-name "pycram"

in your terminal. –name is the name of your virtual environment and –display-name is the name that will display in the drop down menu of jupyter. After that, select the correct Python interpreter kernel (pycram) and everything should work now. Refer here for details.

Dirty Terminals

If your terminal gets polluted by PyBullet complaining about incomplete URDF descriptions, you need to first fix your URDF files by inserting the missing tags and second delete the resources/cached folder.