search

pantor / frankx

High-Level Motion Library for Collaborative Robots
https://pantor.github.io/frankx/
GNU Lesser General Public License v3.0
257 stars 62 forks source link

How to get the right libReflexxesTypeII.so #15

Closed saprrow closed 3 years ago

saprrow commented 3 years ago

Hi, I downloaded ReflexxesTypeII.zip and compiled linux64 .so file from it. When I used g++7.5, the compiling failed. So I used g++4.8 to compile it and succeeded. But when I import frankx, it showed libReflexxesTypeII.so: invalid ELF header. So how to get the right libReflexxesTypeII.so?

My os is ubuntu18.04

Thanks for you help!

pantor commented 3 years ago

We recommend to use a trajectory generator with constrained jerk, as the Franka is quite sensitive to acceleration discontinuities. Reflexxes Type II does have unconstrained jerk, so we advise to use Type IV. You can also use the integrated trajectory generator, it is however currently quite slow and not time-optimal (yet).

Back to your question. The error message is due to the compiler version mismatch. This fork should have the compiler error with up-to-date gcc fixed.