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ethz-asl / mav_control_rw

Control strategies for rotary wing Micro Aerial Vehicles using ROS
Apache License 2.0
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Problem compiling #8

Closed suarez-ramon closed 7 years ago

suarez-ramon commented 7 years ago

Hello,

I am running Ubuntu 16.04 with ROS kinetic. I wasn't able to compile with the liblapack-dev libraries as said in the instructions but after looking around in the CMakeLists of the nonlinear MPC I tried installing libopenblas-dev and the nonlinear MPC compiled.

The issue im having is with the Linear MPC, it hangs when compiling and never ends. I guess it has something to do with the cvxgen_solver but im not sure. Any help is welcome! Thanks!

Also when I run nonlinear mav_nonlinear_mpc_sim.launch I get the same assertion failed as in #4

[ INFO] [1489688585.790922587]: Created control interface for controller nonlinear_model_predictive_controller and RC ACI rc interface nonlinear_mpc_node: /usr/include/boost/msm/front/state_machine_def.hpp:203: void boost::msm::front::state_machine_def<Derived, BaseState>::no_transition(const Event&, FSM&, int) [with FSM = boost::msm:: back::state_machine<mav_control_interface::state_machine::StateMachineDefinition, boost::msm:: back::mpl_graph_fsm_check>; Event = mav_control_interface::state_machine::OdometryWatchdog; Derived = mav_control_interface::state_machine::StateMachineDefinition; BaseState = boost::msm::front::default_base_state]: Assertion `false' failed.

suarez-ramon commented 7 years ago

Nevermind, mav_linear_mpc does take a LONG time to compile but eventually does. The problem with the nonlinear MPC was fixed by changing to the branch mising_odom...

Now everything works as expected when sending pose commands.

Thanks!