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gtrll / gpmp2

Gaussian Process Motion Planner 2
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Undefined error #21

Closed JiatianWu closed 6 years ago

JiatianWu commented 6 years ago

I followed the instruction of make matlab wrapper, and there is gpmp2_wrapper.mexa64 under the folder of GTSAM toolbox, and I already add the toolbox path into matlab. However I still got undefined error like this:

Arm2FactorGraphExample Undefined function or variable 'PlanarSDF'.

Error in Arm2FactorGraphExample (line 21) sdf = PlanarSDF(origin_point2, cell_size, field);

could you please help me figure out why this happens?

dongjing3309 commented 6 years ago

Hi, looks like either GTSAM or GPMP2 matlab toolbox is not correctly installed. Have you tried to run any GTSAM exmaple with the same setting?

JiatianWu commented 6 years ago

Thank you Jing, I successfully installed GTSAM and GPMP2 matlab toolbox, but when I run Arm2FactorGraphExample.m, I got some error like below:

`Error using gtsam.Values/insert (line 117) Arguments do not match any overload of function gtsam.Values.insert

Error in Arm3FactorGraphExample (line 84) init_values.insert(key_pos, pose);`

do you know how to solve it? Thank you very much.

dongjing3309 commented 6 years ago

I don't see this error before, which version of GTSAM did you install? For the latest GTSAM develop branch, I don't see this error on my computer

JiatianWu commented 6 years ago

I used the precompiled GTSAM toolbox, which is gtsam-toolbox-3.2.0-lin64.tgz. I think it is not latest. Could you please share the latest GTSAM toolbox with me? I have been struggling with compiling it from source code for a long time..My email address is jiatian1@andrew.cmu.edu That would be really helpful.

JiatianWu commented 6 years ago

Also, my platform is Ubuntu 16.04, is it a trusted system?

dongjing3309 commented 6 years ago

Hi @JiatianWu , GPMP2 needs current version of GTSAM 4, not GTSAM 3.x. So you need to checkout GTSAM repo at https://bitbucket.org/gtborg/gtsam/src, and compile the toolbox as instructed on bitbucket. I don't think GTSAM4 has pre-compiled toolbox available. Ubuntu 16.04 is definitely fine.

JiatianWu commented 6 years ago

Thank you Dong, I have successfully run these Matlab demos. Amazing work, I really like your idea that doing motion planning from probabilistic inference. I am currently developing GPMP2 to add motion constraints, hope we can keep in touch in the future. Do you mind if I can add your wechat? My wechat account is WujiatianPumpkin, thank you.