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UMich-BipedLab / Cassie_StateEstimation

Code for various extended Kalman filter state estimation methods for Cassie.
BSD 3-Clause "New" or "Revised" License
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error while run the example #4

Open yuan0623 opened 4 years ago

yuan0623 commented 4 years ago

Hi, I have Matlab R2019b installed on my Ubuntu 16. By following the instruction, I've downloaded the agility robotic software and unzipped the files in the software folder. After I execute run.m, the Simulink starts, then I received the following error:

  1. the error message in the Matlab console: 
    
Warning: Source 'example_QEKF/Quaternion-based Extended Kalman Filter/Digital Clock' specifies that its sample time
(-1) is back-inherited. You should explicitly specify the sample time of sources. You can disable this diagnostic by
setting the 'Source block specifies -1 sample time' diagnostic to 'none' in the Sample Time group on the Diagnostics
pane of the Configuration Parameters dialog box. 
> In run (line 29) 
Warning: Source 'example_QEKF/From Workspace' specifies that its sample time (-1) is back-inherited. You should
explicitly specify the sample time of sources. You can disable this diagnostic by setting the 'Source block specifies
-1 sample time' diagnostic to 'none' in the Sample Time group on the Diagnostics pane of the Configuration Parameters
dialog box. 
> In run (line 29) 
Error using run (line 29)
Unable to create mex function 'example_QEKF_sfun.mexa64' required for simulation. If custom code is used, ensure
custom code dependencies are correctly specified. If you believe custom code dependencies have been correctly
specified, try updating the model by turning off "Configuration Parameters > Simulation Target > Import custom code."
Refer to documentation for more information.

2. the error message in the Simulink:

Making simulation target "example_QEKF_sfun", ...

/usr/local/MATLAB/R2019b/bin/mex -R2018a -c -DMATLAB_MEX_FILE -I"/home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/Examples" -I"/home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/Examples/gen/kin/src" -I"/home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/gen/linux/kin/slrt/src" -I"/usr/local/MATLAB/R2019b/extern/include" -I"/usr/local/MATLAB/R2019b/simulink/include" -I"/usr/local/MATLAB/R2019b/simulink/include/sf_runtime" -I"/usr/local/MATLAB/R2019b/stateflow/c/mex/include" -I"/usr/local/MATLAB/R2019b/rtw/c/src" -I"/home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/Examples/slprj/_sfprj/example_QEKF/_self/sfun/src" CFLAGS="\$CFLAGS -O2 " example_QEKF_sfun.c Building with 'gcc'. Warning: You are using gcc version '5.5.0'. The version of gcc is not supported. The version currently supported with MEX is '6.3.x'. For a list of currently supported compilers see: https://www.mathworks.com/support/compilers/current_release. MEX completed successfully. /usr/local/MATLAB/R2019b/bin/mex -R2018a -c -DMATLAB_MEX_FILE -I"/home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/Examples" -I"/home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/Examples/gen/kin/src" -I"/home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/gen/linux/kin/slrt/src" -I"/usr/local/MATLAB/R2019b/extern/include" -I"/usr/local/MATLAB/R2019b/simulink/include" -I"/usr/local/MATLAB/R2019b/simulink/include/sf_runtime" -I"/usr/local/MATLAB/R2019b/stateflow/c/mex/include" -I"/usr/local/MATLAB/R2019b/rtw/c/src" -I"/home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/Examples/slprj/_sfprj/example_QEKF/_self/sfun/src" CFLAGS="\$CFLAGS -O2 " example_QEKF_sfun_registry.c Building with 'gcc'. Warning: You are using gcc version '5.5.0'. The version of gcc is not supported. The version currently supported with MEX is '6.3.x'. For a list of currently supported compilers see: https://www.mathworks.com/support/compilers/current_release. MEX completed successfully. /usr/local/MATLAB/R2019b/bin/mex -R2018a -c -DMATLAB_MEX_FILE -I"/home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/Examples" -I"/home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/Examples/gen/kin/src" -I"/home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/gen/linux/kin/slrt/src" -I"/usr/local/MATLAB/R2019b/extern/include" -I"/usr/local/MATLAB/R2019b/simulink/include" -I"/usr/local/MATLAB/R2019b/simulink/include/sf_runtime" -I"/usr/local/MATLAB/R2019b/stateflow/c/mex/include" -I"/usr/local/MATLAB/R2019b/rtw/c/src" -I"/home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/Examples/slprj/_sfprj/example_QEKF/_self/sfun/src" CFLAGS="\$CFLAGS -O2 " c2_example_QEKF.c Building with 'gcc'. Warning: You are using gcc version '5.5.0'. The version of gcc is not supported. The version currently supported with MEX is '6.3.x'. For a list of currently supported compilers see: https://www.mathworks.com/support/compilers/current_release. MEX completed successfully.

/usr/local/MATLAB/R2019b/bin/mex -R2018a -silent LDFLAGS="\$LDFLAGS " -output example_QEKF_sfun.mexa64 @example_QEKF_sfun.mol
Warning: You are using gcc version '5.5.0'. The version of gcc is not supported. The version currently supported with MEX is '6.3.x'. For a list of currently supported compilers see: https://www.mathworks.com/support/compilers/current_release. c2_example_QEKF.o: In function sf_gateway_c2_example_QEKF': c2_example_QEKF.c:(.text+0xfe8): undefined reference top_VectorNav_to_RightToeBottom_src' c2_example_QEKF.c:(.text+0x102e): undefined reference to p_VectorNav_to_LeftToeBottom_src' /home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/Examples/slprj/_sfprj/example_QEKF/lib_StateEstimation/sfun/src/lib_StateEstimation_sfun.a(c21_lib_StateEstimation.o): In functionsf_gateway_c21_lib_StateEstimation': c21_lib_StateEstimation.c:(.text+0xc72): undefined reference to p_VectorNav_to_LeftToeBottom_src' c21_lib_StateEstimation.c:(.text+0xcb2): undefined reference toJp_VectorNav_to_LeftToeBottom_src' c21_lib_StateEstimation.c:(.text+0xfc7): undefined reference to p_VectorNav_to_RightToeBottom_src' c21_lib_StateEstimation.c:(.text+0x1007): undefined reference toJp_VectorNav_to_RightToeBottom_src' /home/yuan/Dropbox/UML_dropbox/research/conference_paper/IROS2020/Cassie_StateEstimation/Examples/slprj/_sfprj/example_QEKF/lib_StateEstimation/sfun/src/lib_StateEstimation_sfun.a(c42_lib_StateEstimation.o): In function sf_gateway_c42_lib_StateEstimation': c42_lib_StateEstimation.c:(.text+0xc7e): undefined reference toJp_VectorNav_to_RightToeBottom_src' c42_lib_StateEstimation.c:(.text+0xcd2): undefined reference to `Jp_VectorNav_to_LeftToeBottom_src' collect2: error: ld returned 1 exit status

gmake: *** [example_QEKF_sfun.mexa64] Error 255



I'm not sure about what's wrong here, have you experienced a similar problem?
crankler commented 4 years ago

I got the same problem as you, I use the matlab2019b and ubuntu18.04

DKDLVOEM commented 2 years ago

you guys just follow up the matlab command,

" If you believe custom code dependencies have been correctly specified, try updating the model by turning off "Configuration Parameters > Simulation Target > Import custom code." Refer to documentation for more information. "

Then, it will be fine