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robomechanics / quad-sdk

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.
https://robomechanics.github.io/quad-sdk/
MIT License
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NMPC solving fail , similar to #288 #394

Closed elpimous closed 1 year ago

elpimous commented 1 year ago

I had to catkin clean, run again ./setup.sh, then catkin build I previously had error on NUMPS compilation, ok now, with the noetic_devel setup.sh version.

I catkin clean & catkin build process without errors. But when I run the 3rd command : roslaunch quad_utils quad_plan.launch reference:=twist logging:=true I encounter : NMPC solving fail !!!

see the terminal : https://pastebin.com/wyqKPQ1m

tested on noetic_devel branch, and my quad-sdk-ylo2-real-robot branch (my own branch worked before. ma27 HSL is in place, and confirmed on ./setup.sh terminal build)

the catkin run_test , with 2 fails : https://pastebin.com/WXmkKKjR

@ologandavid , any idea ?

elpimous commented 1 year ago

@ologandavid
Found error : working now -> catkin run_tests : This is Ipopt version 3.13.5, running with linear solver ma27

I had to modify ...quad-sdk/external/setup_deps.sh L29 :

from : ./coinbrew build Ipopt --latest-release --tests none --prefix=/usr/local to : ./coinbrew build Ipopt --tests none --prefix=/usr/local

it installed Ipopt 3.13.5 instead of the latest version 3.14

The 3.14 Ipopt version doesn't work on my quad_sdk versions (noetic_devel)

Hope it will help.