NicolassFelipe
commented
3 years ago Closed theflash-17 closed 3 years ago
NicolassFelipe
commented
3 years ago 
theflash-17
commented
3 years ago @NicolassFelipe Thanks for the comment. I had followed the discussion of #18142 and tried the solution provided by @potaito. Initially, it didn't work for me. So, I did try different combinations in hope of solving it. (Note: In all cases, I tried running 'jmavsim' only)
The simulation ran fine when I ran it on 'ubuntu-20.04.3-desktop-amd64' and 'windows 10' virtual machines. For both of them, I followed the method show in this video - https://www.youtube.com/watch?v=OtValQdAdrU (I only cloned the PX4/Firmware repo instead of PX4/PX4-Autopilot) and had launched QGroundControl before using the command - make px4_sitl jmavsim.
However, the problem still persists as I am unable to run it using the PX4-Autopilot repo (i.e., by following the method given in https://docs.px4.io/master/en/dev_setup/dev_env_windows_cygwin.html) even after launching QGroundControl at the beginning.
theflash-17
commented
3 years ago Also, I tried running make px4_fmu-v5_default in PX4/Firmware, it didn't work.
Here is the output:
$ make px4_fmu-v5_default
[0/21] Performing build step for 'px4io_firmware'
[1/3] Linking CXX executable px4_io-v2_default.elf
FAILED: px4_io-v2_default.elf
: && /cygdrive/c/PX4/toolchain/gcc-arm/bin/arm-none-eabi-g++.exe -mcpu=cortex-m3 -mthumb -Os -DNDEBUG --specs=nosys.specs platforms/nuttx/CMakeFiles/px4.dir/__/common/empty.
c.obj -o px4_io-v2_default.elf -L/cygdrive/c/PX4/home/Firmware/build/px4_fmu-v5_default/external/Build/px4io_firmware/external/Install/lib -nostartfiles -nodefaultlibs -nostd
lib -nostdinc++ -fno-exceptions -fno-rtti -Wl,--script=C:/PX4/home/Firmware/build/px4_fmu-v5_default/external/Build/px4io_firmware/NuttX/nuttx-config/scripts/script.ld -Wl,-Ma
p=px4_io-v2_default.map -Wl,--warn-common -Wl,--gc-sections -Wl,--start-group NuttX/apps/libapps.a NuttX/nuttx/arch/arm/src/libarch.a NuttX/nuttx/binfmt/libbinfmt.a NuttX/nutt
x/libs/libc/libc.a NuttX/nuttx/boards/libboards.a NuttX/nuttx/libs/libxx/libxx.a NuttX/nuttx/drivers/libdrivers.a NuttX/nuttx/fs/libfs.a NuttX/nuttx/mm/libmm.a NuttX/nuttx/sch
ed/libsched.a -Wl,--end-group -lm -lgcc -Wl,--print-memory-usage src/modules/px4iofirmware/libpx4iofirmware.a NuttX/apps/libapps.a platforms/nuttx/src/px4/stm/stm32f1/io_pins/
libarch_io_pins.a platforms/nuttx/src/px4/stm/stm32f1/watchdog/libarch_watchdog_iwdg.a NuttX/nuttx/arch/arm/src/libarch.a boards/px4/io-v2/src/libdrivers_board.a platforms/nut
tx/src/px4/stm/stm32f1/hrt/libarch_hrt.a src/lib/parameters/libparameters.a src/lib/parameters/flashparams/libflashparams.a NuttX/nuttx/arch/arm/src/libarch.a boards/px4/io-v2
/src/libdrivers_board.a platforms/nuttx/src/px4/stm/stm32f1/hrt/libarch_hrt.a src/lib/parameters/libparameters.a src/lib/parameters/flashparams/libflashparams.a src/lib/parame
ters/tinybson/libtinybson.a platforms/common/libpx4_platform.a msg/libuorb_msgs.a src/lib/mixer/libmixer.a src/lib/mixer/AllocatedActuatorMixer/libAllocatedActuatorMixer.a src
/lib/mixer/HelicopterMixer/libHelicopterMixer.a src/lib/mixer/MultirotorMixer/libMultirotorMixer.a src/lib/mixer/NullMixer/libNullMixer.a src/lib/mixer/SimpleMixer/libSimpleMi
xer.a src/lib/mixer/MixerBase/libMixerBase.a src/lib/rc/librc.a src/lib/output_limit/liboutput_limit.a NuttX/nuttx/libs/libxx/libxx.a NuttX/nuttx/fs/libfs.a NuttX/nuttx/libs/l
ibc/libc.a NuttX/nuttx/drivers/libdrivers.a NuttX/nuttx/mm/libmm.a NuttX/nuttx/sched/libsched.a -lm -lgcc && :
Memory region Used Size Region Size %age Used
flash: 61896 B 60 KB 100.74%
sram: 3728 B 8 KB 45.51c:/px4/toolchain/gcc-arm/bin/../lib/gcc/arm-none-eabi/7.3.1/../../../../arm-none-eabi/bin/ld.exe: px4_io-v2_default.elf s
ection `.data' will not fit in region `flash'
c:/px4/toolchain/gcc-arm/bin/../lib/gcc/arm-none-eabi/7.3.1/../../../../arm-none-eabi/bin/ld.exe: region `flash' overflowed by 456 bytes
collect2.exe: error: ld returned 1 exit status
%
ninja: build stopped: subcommand failed.
FAILED: external/Stamp/px4io_firmware/px4io_firmware-build external/Build/px4io_firmware/px4_io-v2_default.elf
cd /cygdrive/c/PX4/home/Firmware/build/px4_fmu-v5_default/external/Build/px4io_firmware && /usr/bin/cmake.exe --build .
ninja: build stopped: subcommand failed.
make: *** [Makefile:225: px4_fmu-v5_default] Error 1
julianoes
commented
3 years ago @theflash-17 which Java version have you installed?
And does it help to rebuild jMAVSim. You can delete the old build by doing: rm -rf Tools/jMAVSim/out.
potaito
commented
3 years ago @theflash-17 to add to Julian's response, your jmavsim is crashing. That's why the simulation is not working. Look at the following lines from your output that you shared in your first post:
Exception in thread "main" java.lang.UnsupportedClassVersionError: me/drton/jmavsim/Simulator has been compiled by a more recent version of the Java Runtime (class file version 55.0), this version of the Java Runtime only recognizes class file versions up to 52.0
at java.lang.ClassLoader.defineClass1(Native Method)
at java.lang.ClassLoader.defineClass(ClassLoader.java:763)
at java.security.SecureClassLoader.defineClass(SecureClassLoader.java:142)
at java.net.URLClassLoader.defineClass(URLClassLoader.java:467)
at java.net.URLClassLoader.access$100(URLClassLoader.java:73)
at java.net.URLClassLoader$1.run(URLClassLoader.java:368)
at java.net.URLClassLoader$1.run(URLClassLoader.java:362)
at java.security.AccessController.doPrivileged(Native Method)
at java.net.URLClassLoader.findClass(URLClassLoader.java:361)
at java.lang.ClassLoader.loadClass(ClassLoader.java:424)
at java.lang.ClassLoader.loadClass(ClassLoader.java:357)
at java.lang.Class.forName0(Native Method)
at java.lang.Class.forName(Class.java:348)
at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:59) The top line also tells you, that you most likely downgraded your java installation from v55 to v52 after running jmavsim at least once, which is why the compiled binary is now no longer compatible with your currently installed version.
With the virtual machines you don't have this problem since you probably performed a fresh installation of everything, including Java.
Julian's fix above should solve the problem, since it will force a recompilation with the java version currently installed on your system.
I was following the steps mentioned in the 'Toolchain Installation' (Windows Setup) section of PX4 User Guide (https://docs.px4.io/master/en/dev_setup/dev_env_windows_cygwin.html).
After following all the 4 steps, when I used the command
make px4_sitl jmavsimin the 'run-console', the simulation didn't start and the process was stuck atINFO [simulator] Waiting for simulator to accept connection on TCP port 4560.