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robotology-playground / WBI-Toolbox

Simulink Toolbox for rapid prototyping of Whole Body Robot Controllers
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Errors/problem in running a simple test #30

Closed azadm closed 9 years ago

azadm commented 9 years ago

I am having a problem running a simple test in simulink. I am using only the joint angles block to read the angles but I get this error in matlab: Error reported by S-function 'robotState' in 'test1/Joint Angles/S-Function': ERROR [mdlStart] in robotConfig.

and these messages come up in the terminal that matlab is running:

setJointBoundMin error: input vector has size 0 while should have size 32 setJointBoundMax error: input vector has size 0 while should have size 32 icubWholeBodySensors: Called addPwms RemoteControlBoard is ENABLING the writeStrict option for all commands yarp: YARP not initialized; create a yarp::os::Network object before using ports yarp: YARP not initialized; create a yarp::os::Network object before using ports yarp: YARP not initialized; create a yarp::os::Network object before using ports yarpdev: _ERROR_ driver was found but could not open Problems instantiating the device driver torso [icubWholeBodyInterface] Error while initializing actuator interface. [icubWholeBodyInterface] Error while initializing state interface. [icubWholeBodyInterface] Error while initializing model interface. ERROR [robotStatus::robotConfig] Initializing Whole Body Interface!

When I run the file for the second (and more) time I get this error instead:

Error reported by S-function 'robotState' in 'test1/Joint Angles/S-Function': ERROR [mdlOutput] Joint limits could not be computed

and in the terminal I get these:

mdlInitializeSizes >> BLOCK TYPE IS: 0 mdlStart >> YARP is up and running!! mdlStart >> About to configure robot... mdlStart >> Succesfully exited robotConfig. mdlStart >> Succesfully exited robotInit. ERROR [robotStatus::getJointLimits] wbInterface->getJointLimits failed

iron76 commented 9 years ago

Sorry for the trivial question. What kind of robot are you trying to control? Simulated or real?

azadm commented 9 years ago

Simulated. I am using it with Gazebo.

iron76 commented 9 years ago

What robot are you trying to control?

azadm commented 9 years ago

icub. I use icubGazeboSim

iron76 commented 9 years ago

Did you compile YARP as a shared library? CREATE_SHARE_LIBRARY should be ON when you ccmake YARP.

azadm commented 9 years ago

yes I did.

iron76 commented 9 years ago

Can you try launching the following in a terminal:

simpleClient --robot icubGazeboSim --part left_arm

azadm commented 9 years ago

Sure. Here is what I get: (remote "/icubGazeboSim/left_arm") (robot icubGazeboSim) (device remote_controlboard) (local "/icubGazeboSim/left_arm/simpleclient") (part left_arm)yarp: Port /icubGazeboSim/left_arm/simpleclient/rpc:o active at tcp://147.188.200.113:10034 yarp: Port /icubGazeboSim/left_arm/simpleclient/command:o active at tcp://147.188.200.113:10035 yarp: Port /icubGazeboSim/left_arm/simpleclient/state:i active at tcp://147.188.200.113:10036 yarp: Sending output from /icubGazeboSim/left_arm/simpleclient/rpc:o to /icubGazeboSim/left_arm/rpc:i using tcp yarp: Sending output from /icubGazeboSim/left_arm/simpleclient/command:o to /icubGazeboSim/left_arm/command:i using tcp yarp: Receiving input from /icubGazeboSim/left_arm/state:o to /icubGazeboSim/left_arm/simpleclient/state:i using udp [INFO]created device . See C++ class RemoteControlBoard for documentation. Working with 7 axes Device active...

iron76 commented 9 years ago

What is your OS?

jeljaik commented 9 years ago

Can you also provide us with the messages that are being displayed right before "setJointBoundMin error: input vector has size 0 while should have size 32" ... those that start with the pipes ( | );

azadm commented 9 years ago

It is OS X 10.9.5

First I get this error:

mdlInitializeSizes >> BLOCK TYPE IS: 0 mdlStart >> YARP is up and running!! mdlStart >> About to configure robot... ||| clearing context ||| adding context [wbit] ||| configuring ||| no policy found ||| default config file specified as icubGazeboSim.ini ||| checking /Users/azadm/Documents/codyco-superbuild/main/WBIToolbox/controllers/icubtwolink/icubGazeboSim.ini ||| checking [/Users/azadm/Library/Application Support/yarp/config/robots/default](robot YARP_CONFIG_HOME) ||| checking [/Users/azadm/Library/Application Support/yarp/robots/default](robot YARP_DATA_HOME) ||| checking [/Library/Preferences/yarp/robots/default](robot YARP_CONFIG_DIRS) ||| checking [/etc/yarp/robots/default](robot YARP_CONFIG_DIRS) ||| checking [/Users/azadm/Documents/yarp/build/share/yarp/robots/default](robot YARP_DATA_DIRS) ||| checking [/Users/azadm/Documents/icub-main/build/share/iCub/robots/default](robot YARP_DATA_DIRS) ||| checking [/Users/azadm/Documents/codyco-superbuild/build/install/share/codyco/robots/default](robot YARP_DATA_DIRS) ||| checking [/Users/azadm/Documents/yarp/build/share/yarp/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking [/Users/azadm/Documents/icub-main/build/share/iCub/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking [/Users/azadm/Documents/codyco-superbuild/build/install/share/codyco/config/path.d](robot path.d YARP_DATA_DIRS) ||| checking [/Users/azadm/Library/Application Support/yarp/config/contexts/wbit](context YARP_CONFIG_HOME) ||| checking [/Users/azadm/Library/Application Support/yarp/contexts/wbit](context YARP_DATA_HOME) ||| checking [/Library/Preferences/yarp/contexts/wbit](context YARP_CONFIG_DIRS) ||| checking [/etc/yarp/contexts/wbit](context YARP_CONFIG_DIRS) ||| checking [/Users/azadm/Documents/yarp/build/share/yarp/contexts/wbit](context YARP_DATA_DIRS) ||| checking [/Users/azadm/Documents/icub-main/build/share/iCub/contexts/wbit](context YARP_DATA_DIRS) ||| checking [/Users/azadm/Documents/codyco-superbuild/build/install/share/codyco/contexts/wbit](context YARP_DATA_DIRS) ||| checking /Users/azadm/Library/Application Support/yarp/config/icubGazeboSim.ini ||| checking /Users/azadm/Library/Application Support/yarp/icubGazeboSim.ini ||| checking /Library/Preferences/yarp/icubGazeboSim.ini ||| checking /etc/yarp/icubGazeboSim.ini ||| checking /Users/azadm/Documents/yarp/build/share/yarp/icubGazeboSim.ini ||| checking /Users/azadm/Documents/icub-main/build/share/iCub/icubGazeboSim.ini ||| checking /Users/azadm/Documents/codyco-superbuild/build/install/share/codyco/icubGazeboSim.ini ||| did not find icubGazeboSim.ini yarp: cannot read from icubGazeboSim.ini ERROR [robotStatus::robotConfig] No option icub_fixed in the config file!

and then because it cannot find the ini file I copy the file in the current folder and then I get this:

mdlInitializeSizes >> BLOCK TYPE IS: 0 mdlStart >> YARP is up and running!! mdlStart >> About to configure robot... ||| clearing context ||| adding context [wbit] ||| configuring ||| no policy found ||| default config file specified as icubGazeboSim.ini ||| checking /Users/azadm/Documents/codyco-superbuild/main/WBIToolbox/controllers/icubtwolink/icubGazeboSim.ini ||| found /Users/azadm/Documents/codyco-superbuild/main/WBIToolbox/controllers/icubtwolink/icubGazeboSim.ini [robotStatus::robotConfig] icub_fixed is false! [robotStatus::robotConfig] After reading from config file, params are [robotStatus::robotConfig] robot name: icubGazeboSim [robotStatus::robotConfig] urdf file: /Users/azadm/Documents/codyco-superbuild/main/WBIToolbox/libraries/wbInterface/conf/wbit/gazebo_models/iCubGenova03/icub_simulation.urdf [robotStatus::robotConfig] local name: simulink [robotStatus::robotConfig] head version: 2 [robotStatus::robotConfig] legs version: 1 [robotStatus::robotConfig] feet version: 1 [robotStatus::robotConfig] world reference frame: l_sole [INFO] Link root_link had 3 children [INFO] Link l_hip_1 had 1 children [INFO] Link l_hip_2 had 1 children [INFO] Link l_hip_3 had 1 children [INFO] Link l_thigh had 1 children [INFO] Link l_shank had 1 children [INFO] Link l_ankle_1 had 1 children

iron76 commented 9 years ago

First issue can be solved by setting the YARP_DATA_DIRS directory as described here: https://github.com/robotology-playground/WBI-Toolbox

The second output that you posted doesn't seem to have errors. Francesco

azadm commented 9 years ago

I read that page and I still don't know how to solve the first issue. Do I need to add ${CODYCO_SUPERBUILD_ROOT}/codyco/WBIToolbox/libraries/wbInterface/conf/wbit to the YARP_DATA_DIRS ?

The second output is not the whole output but just the beginning part. As I posted before the whole output is:

mdlInitializeSizes >> BLOCK TYPE IS: 0 mdlStart >> YARP is up and running!! mdlStart >> About to configure robot... ||| clearing context ||| adding context [wbit] ||| configuring ||| no policy found ||| default config file specified as icubGazeboSim.ini ||| checking /Users/azadm/Documents/codyco-superbuild/main/WBIToolbox/controllers/icubtwolink/icubGazeboSim.ini ||| found /Users/azadm/Documents/codyco-superbuild/main/WBIToolbox/controllers/icubtwolink/icubGazeboSim.ini [robotStatus::robotConfig] icub_fixed is true! [robotStatus::robotConfig] After reading from config file, params are [robotStatus::robotConfig] robot name: icubGazeboSim [robotStatus::robotConfig] urdf file: /Users/azadm/Documents/codyco-superbuild/main/WBIToolbox/libraries/wbInterface/conf/wbit/gazebo_models/iCubGenova03/icub_simulation.urdf [robotStatus::robotConfig] local name: simulink [robotStatus::robotConfig] head version: 2 [robotStatus::robotConfig] legs version: 1 [robotStatus::robotConfig] feet version: 1 [robotStatus::robotConfig] world reference frame: l_sole [INFO] Link root_link had 3 children [INFO] Link l_hip_1 had 1 children [INFO] Link l_hip_2 had 1 children [INFO] Link l_hip_3 had 1 children [INFO] Link l_thigh had 1 children [INFO] Link l_shank had 1 children [INFO] Link l_ankle_1 had 1 children [INFO] Link l_upper_foot had 1 children [INFO] Link l_foot had 1 children [INFO] Link l_sole had 0 children [INFO] Link r_hip_1 had 1 children [INFO] Link r_hip_2 had 1 children [INFO] Link r_hip_3 had 1 children [INFO] Link r_thigh had 1 children [INFO] Link r_shank had 1 children [INFO] Link r_ankle_1 had 1 children [INFO] Link r_upper_foot had 1 children [INFO] Link r_foot had 1 children [INFO] Link r_sole had 0 children [INFO] Link lap_belt_1 had 1 children [INFO] Link lap_belt_2 had 1 children [INFO] Link chest had 4 children [INFO] Link l_shoulder_1 had 1 children [INFO] Link l_shoulder_2 had 1 children [INFO] Link l_upper_arm had 1 children [INFO] Link l_arm had 1 children [INFO] Link l_elbow_1 had 1 children [INFO] Link l_forearm had 1 children [INFO] Link l_wrist_1 had 1 children [INFO] Link l_hand had 1 children [INFO] Link l_gripper had 0 children [INFO] Link neck_1 had 1 children [INFO] Link neck_2 had 1 children [INFO] Link head had 1 children [INFO] Link imu_frame had 0 children [INFO] Link r_shoulder_1 had 1 children [INFO] Link r_shoulder_2 had 1 children [INFO] Link r_upper_arm had 1 children [INFO] Link r_arm had 1 children [INFO] Link r_elbow_1 had 1 children [INFO] Link r_forearm had 1 children [INFO] Link r_wrist_1 had 1 children [INFO] Link r_hand had 1 children [INFO] Link r_gripper had 0 children [INFO] Link torso had 0 children setJointBoundMin error: input vector has size 0 while should have size 32 setJointBoundMax error: input vector has size 0 while should have size 32 icubWholeBodySensors: Called addPwms RemoteControlBoard is ENABLING the writeStrict option for all commands yarp: YARP not initialized; create a yarp::os::Network object before using ports yarp: YARP not initialized; create a yarp::os::Network object before using ports yarp: YARP not initialized; create a yarp::os::Network object before using ports yarpdev: _ERROR_ driver was found but could not open Problems instantiating the device driver torso [icubWholeBodyInterface] Error while initializing actuator interface. [icubWholeBodyInterface] Error while initializing state interface. [icubWholeBodyInterface] Error while initializing model interface. ERROR [robotStatus::robotConfig] Initializing Whole Body Interface!

jeljaik commented 9 years ago

Hello,

We mean exactly this part of the README.md:

Jorhabib Eljaik Gómez,Ph.D. Student - Istituto Italiano di Tecnologia Dept. of Robotics, Brain and Cognitive Sciences Cognitive Humanoids Laboratory e-mail: jorhabib.eljaik@iit.it Cel: +39 388 352 33 85 Tel: +39 010 71781 420 Fax: +39 010 7170817

On Wed, Nov 26, 2014 at 2:21 PM, azadm notifications@github.com wrote:

I read that page and I still don't know how to solve the first issue. Do I need to add ${CODYCO_SUPERBUILD_ROOT}/codyco/WBIToolbox/libraries/wbInterface/conf/wbit to the YARP_DATA_DIRS ?

The second output is not the whole output but just the beginning part. As I posted before the whole output is:

mdlInitializeSizes >> BLOCK TYPE IS: 0 mdlStart >> YARP is up and running!! mdlStart >> About to configure robot... ||| clearing context ||| adding context [wbit] ||| configuring ||| no policy found ||| default config file specified as icubGazeboSim.ini ||| checking /Users/azadm/Documents/codyco-superbuild/main/WBIToolbox/controllers/icubtwolink/icubGazeboSim.ini http://pwd ||| found /Users/azadm/Documents/codyco-superbuild/main/WBIToolbox/controllers/icubtwolink/icubGazeboSim.ini [robotStatus::robotConfig] icub_fixed is true! [robotStatus::robotConfig] After reading from config file, params are [robotStatus::robotConfig] robot name: icubGazeboSim [robotStatus::robotConfig] urdf file: /Users/azadm/Documents/codyco-superbuild/main/WBIToolbox/libraries/wbInterface/conf/wbit/gazebo_models/iCubGenova03/icub_simulation.urdf

[robotStatus::robotConfig] local name: simulink [robotStatus::robotConfig] head version: 2 [robotStatus::robotConfig] legs version: 1 [robotStatus::robotConfig] feet version: 1 [robotStatus::robotConfig] world reference frame: l_sole [INFO] Link root_link had 3 children [INFO] Link l_hip_1 had 1 children [INFO] Link l_hip_2 had 1 children [INFO] Link l_hip_3 had 1 children [INFO] Link l_thigh had 1 children [INFO] Link l_shank had 1 children [INFO] Link l_ankle_1 had 1 children [INFO] Link l_upper_foot had 1 children [INFO] Link l_foot had 1 children [INFO] Link l_sole had 0 children [INFO] Link r_hip_1 had 1 children [INFO] Link r_hip_2 had 1 children [INFO] Link r_hip_3 had 1 children [INFO] Link r_thigh had 1 children [INFO] Link r_shank had 1 children [INFO] Link r_ankle_1 had 1 children [INFO] Link r_upper_foot had 1 children [INFO] Link r_foot had 1 children [INFO] Link r_sole had 0 children [INFO] Link lap_belt_1 had 1 children [INFO] Link lap_belt_2 had 1 children [INFO] Link chest had 4 children [INFO] Link l_shoulder_1 had 1 children [INFO] Link l_shoulder_2 had 1 children [INFO] Link l_upper_arm had 1 children [INFO] Link l_arm had 1 children [INFO] Link l_elbow_1 had 1 children [INFO] Link l_forearm had 1 children [INFO] Link l_wrist_1 had 1 children [INFO] Link l_hand had 1 children [INFO] Link l_gripper had 0 children [INFO] Link neck_1 had 1 children [INFO] Link neck_2 had 1 children [INFO] Link head had 1 children [INFO] Link imu_frame had 0 children [INFO] Link r_shoulder_1 had 1 children [INFO] Link r_shoulder_2 had 1 children [INFO] Link r_upper_arm had 1 children [INFO] Link r_arm had 1 children [INFO] Link r_elbow_1 had 1 children [INFO] Link r_forearm had 1 children [INFO] Link r_wrist_1 had 1 children [INFO] Link r_hand had 1 children [INFO] Link r_gripper had 0 children [INFO] Link torso had 0 children setJointBoundMin error: input vector has size 0 while should have size 32 setJointBoundMax error: input vector has size 0 while should have size 32 icubWholeBodySensors: Called addPwms RemoteControlBoard is ENABLING the writeStrict option for all commands yarp: YARP not initialized; create a yarp::os::Network object before using ports yarp: YARP not initialized; create a yarp::os::Network object before using ports yarp: YARP not initialized; create a yarp::os::Network object before using ports yarpdev: ERROR driver was found but could not open Problems instantiating the device driver torso [icubWholeBodyInterface] Error while initializing actuator interface. [icubWholeBodyInterface] Error while initializing state interface. [icubWholeBodyInterface] Error while initializing model interface. ERROR [robotStatus::robotConfig] Initializing Whole Body Interface!

— Reply to this email directly or view it on GitHub https://github.com/robotology-playground/WBI-Toolbox/issues/30#issuecomment-64603078 .

azadm commented 9 years ago

but I had already done that. This is my .bash_profile

export Qt5_DIR=/Applications/Qt/5.3/clang_64 export PKG_CONFIG_PATH=/usr/X11/lib/pkgconfig/:$PKG_CONFIG_PATH export GDK_PIXBUF_MODULEDIR="/usr/local/lib/gdk-pixbuf-2.0/2.10.0/loaders" export YARP_ROOT=/Users/azadm/Documents/yarp export YARP_DIR=/Users/azadm/Documents/yarp/build export PATH=$YARP_DIR/bin/Release:$PATH export YARP_DATA_DIRS=/Users/azadm/Documents/yarp/build/share/yarp:/Users/azadm/Documents/icub-main/build/share/iCub export OpenCV_DIR=/usr/local/Cellar/opencv/2.4.9 export IPOPT_DWN_DIR=/Users/azadm/Documents/Ipopt-3.11.9 export IPOPT_DIR=/Users/azadm/Documents/Ipopt-3.11.9/build export ICUB_ROOT=/Users/azadm/Documents/icub-main export ICUB_DIR=/Users/azadm/Documents/icub-main/build export PATH=$ICUB_DIR/bin/Debug:$PATH export CODYCO_SUPERBUILD_ROOT=/Users/azadm/Documents/codyco-superbuild export CODYCO_SUPERBUILD_DIR=/Users/azadm/Documents/codyco-superbuild/build export PATH=$CODYCO_SUPERBUILD_ROOT/build/install/bin:$PATH export DYLD_LIBRARY_PATH=$CODYCO_SUPERBUILD_ROOT/build/install/lib:$DYLD_LIBRARY_PATH export YARP_DATA_DIRS=$YARP_DATA_DIRS:$CODYCO_SUPERBUILD_ROOT/build/install/share/codyco export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/Users/azadm/Documents/gazebo-yarp-plugins/build export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:/Users/azadm/Documents/icub-gazebo export PATH=$PATH:${CODYCO_SUPERBUILD_DIR}/install/bin/ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${CODYCO_SUPERBUILD_DIR}/install/lib export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${CODYCO_SUPERBUILD_DIR}/install/share/codyco

jeljaik commented 9 years ago

Alright, thanks @azadm, can you now provide us with the output of: 

cd $CODYCO_SUPERBUILD_DIR/install/share/codyco/contexts & ls
azadm commented 9 years ago

adaptiveControl ftDumper wholeBodyDynamicsTree codycoCoordinatorDemo1Y reachRandomJointPositions

jeljaik commented 9 years ago

For some reason the project was not locally installed in $CODYCO_SUPERBUILD_DIR/build/install. If it had, you should have also a wbit dir in that location. So, now please do:

cd $CODYCO_SUPERBUILD_DIR/main/WBIToolbox
make
make install

and then again 

cd $CODYCO_SUPERBUILD_DIR/install/share/codyco/contexts & ls
azadm commented 9 years ago

It didn't go well I guess!

make [ 16%] Built target robotState [ 33%] Built target minJerkGenerator [ 50%] Built target yRead [ 66%] Built target yWrite [ 83%] Built target sfun_time [100%] Built target ySynchronizer

make install [ 16%] Built target robotState [ 33%] Built target minJerkGenerator [ 50%] Built target yRead [ 66%] Built target yWrite [ 83%] Built target sfun_time [100%] Built target ySynchronizer Install the project... -- Install configuration: "Release" -- Installing: /Users/azadm/Documents/codyco-superbuild/build/install/mex/robotState.mexmaci64 -- Installing: /Users/azadm/Documents/codyco-superbuild/build/install/mex/minJerkGenerator.mexmaci64 -- Installing: /Users/azadm/Documents/codyco-superbuild/build/install/mex/yRead.mexmaci64 -- Up-to-date: /Users/azadm/Documents/codyco-superbuild/build/install/mex/yWrite.mexmaci64 error: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/install_name_tool: no LC_RPATH load command with path: /Users/azadm/Documents/codyco-superbuild/build/main/WBIToolbox found in: /Users/azadm/Documents/codyco-superbuild/build/install/mex/yWrite.mexmaci64 (for architecture x86_64), required for specified option "-delete_rpath /Users/azadm/Documents/codyco-superbuild/build/main/WBIToolbox" error: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/install_name_tool: no LC_RPATH load command with path: /Applications/MATLAB_R2013a.app/bin/maci64 found in: /Users/azadm/Documents/codyco-superbuild/build/install/mex/yWrite.mexmaci64 (for architecture x86_64), required for specified option "-delete_rpath /Applications/MATLAB_R2013a.app/bin/maci64" -- Up-to-date: /Users/azadm/Documents/codyco-superbuild/build/install/mex/sfun_time.mexmaci64 error: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/install_name_tool: no LC_RPATH load command with path: /Users/azadm/Documents/codyco-superbuild/build/main/WBIToolbox found in: /Users/azadm/Documents/codyco-superbuild/build/install/mex/sfun_time.mexmaci64 (for architecture x86_64), required for specified option "-delete_rpath /Users/azadm/Documents/codyco-superbuild/build/main/WBIToolbox" error: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/install_name_tool: no LC_RPATH load command with path: /Applications/MATLAB_R2013a.app/bin/maci64 found in: /Users/azadm/Documents/codyco-superbuild/build/install/mex/sfun_time.mexmaci64 (for architecture x86_64), required for specified option "-delete_rpath /Applications/MATLAB_R2013a.app/bin/maci64" -- Up-to-date: /Users/azadm/Documents/codyco-superbuild/build/install/mex/ySynchronizer.mexmaci64 error: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/install_name_tool: no LC_RPATH load command with path: /Users/azadm/Documents/codyco-superbuild/build/main/WBIToolbox found in: /Users/azadm/Documents/codyco-superbuild/build/install/mex/ySynchronizer.mexmaci64 (for architecture x86_64), required for specified option "-delete_rpath /Users/azadm/Documents/codyco-superbuild/build/main/WBIToolbox" error: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/install_name_tool: no LC_RPATH load command with path: /Applications/MATLAB_R2013a.app/bin/maci64 found in: /Users/azadm/Documents/codyco-superbuild/build/install/mex/ySynchronizer.mexmaci64 (for architecture x86_64), required for specified option "-delete_rpath /Applications/MATLAB_R2013a.app/bin/maci64"

jeljaik commented 9 years ago

Since this problem is a bit hard to reproduce for us and it's also the first time we get this error message during installation, we would like you to try and compile everything in codyco-superbuild from scratch. In order to do this, please do the following:

cd $CODYCO_SUPERBUILD_ROOT
git pull origin master
rm -Rf build
mkdir build
cd build
cmake ../ -DCODYCO_USES_WBI_TOOLBOX:BOOL=YES -DCODYCO_USES_URDFDOM:BOOL=YES -DICUBWBI_USE_EXTERNAL_TORQUE_CONTROL:BOOL=NO
make update-all
make
azadm commented 9 years ago

Thanks @jeljaik . Now I don't need to copy the .ini file. ||| found /Users/azadm/Documents/codyco-superbuild/build/install/share/codyco/contexts/wbit/icubGazeboSim.ini

but the error is still there.

jeljaik commented 9 years ago

Good @azadm, we just wanted to fix the installation first. Now we can move on with the original problem. We believe the error might be on the installation of YARP or how its libraries are being found in the system. Can you provide us with the output of: 

cd $YARP_DIR/lib
ls -l | grep YARP

$YARP_DIR/lib is the place where you YARP libraries should be installed.

And could you please write it like this for easy reading?


your output
azadm commented 9 years ago

I did it in $YARP_DIR/lib/Release

 ls -l | grep YARP

lrwxr-xr-x  1 azadm  staff   25 24 Nov 17:14 libYARP_OS.1.dylib -> libYARP_OS.2.3.63.1.dylib
lrwxr-xr-x  1 azadm  staff  186 24 Nov 17:14 libYARP_OS.2.3.63.1.dylib -> /Users/azadm/Library/Developer/Xcode/DerivedData/YARP-cgxqybpcvusjbaejikbitjspbvzm/ArchiveIntermediates/ALL_BUILD/IntermediateBuildFilesPath/UninstalledProducts/libYARP_OS.2.3.63.1.dylib
lrwxr-xr-x  1 azadm  staff   18 24 Nov 17:14 libYARP_OS.dylib -> libYARP_OS.1.dylib
lrwxr-xr-x  1 azadm  staff   26 24 Nov 17:14 libYARP_dev.1.dylib -> libYARP_dev.2.3.63.1.dylib
lrwxr-xr-x  1 azadm  staff  187 24 Nov 17:14 libYARP_dev.2.3.63.1.dylib -> /Users/azadm/Library/Developer/Xcode/DerivedData/YARP-cgxqybpcvusjbaejikbitjspbvzm/ArchiveIntermediates/ALL_BUILD/IntermediateBuildFilesPath/UninstalledProducts/libYARP_dev.2.3.63.1.dylib
lrwxr-xr-x  1 azadm  staff   19 24 Nov 17:14 libYARP_dev.dylib -> libYARP_dev.1.dylib
lrwxr-xr-x  1 azadm  staff   27 24 Nov 17:14 libYARP_init.1.dylib -> libYARP_init.2.3.63.1.dylib
lrwxr-xr-x  1 azadm  staff  188 24 Nov 17:14 libYARP_init.2.3.63.1.dylib -> /Users/azadm/Library/Developer/Xcode/DerivedData/YARP-cgxqybpcvusjbaejikbitjspbvzm/ArchiveIntermediates/ALL_BUILD/IntermediateBuildFilesPath/UninstalledProducts/libYARP_init.2.3.63.1.dylib
lrwxr-xr-x  1 azadm  staff   20 24 Nov 17:14 libYARP_init.dylib -> libYARP_init.1.dylib
lrwxr-xr-x  1 azadm  staff  177 24 Nov 17:14 libYARP_logger.a -> /Users/azadm/Library/Developer/Xcode/DerivedData/YARP-cgxqybpcvusjbaejikbitjspbvzm/ArchiveIntermediates/ALL_BUILD/IntermediateBuildFilesPath/UninstalledProducts/libYARP_logger.a
lrwxr-xr-x  1 azadm  staff  178 24 Nov 17:14 libYARP_manager.a -> /Users/azadm/Library/Developer/Xcode/DerivedData/YARP-cgxqybpcvusjbaejikbitjspbvzm/ArchiveIntermediates/ALL_BUILD/IntermediateBuildFilesPath/UninstalledProducts/libYARP_manager.a
lrwxr-xr-x  1 azadm  staff   27 24 Nov 17:14 libYARP_math.1.dylib -> libYARP_math.2.3.63.1.dylib
lrwxr-xr-x  1 azadm  staff  188 24 Nov 17:14 libYARP_math.2.3.63.1.dylib -> /Users/azadm/Library/Developer/Xcode/DerivedData/YARP-cgxqybpcvusjbaejikbitjspbvzm/ArchiveIntermediates/ALL_BUILD/IntermediateBuildFilesPath/UninstalledProducts/libYARP_math.2.3.63.1.dylib
lrwxr-xr-x  1 azadm  staff   20 24 Nov 17:14 libYARP_math.dylib -> libYARP_math.1.dylib
lrwxr-xr-x  1 azadm  staff   27 24 Nov 17:14 libYARP_name.1.dylib -> libYARP_name.2.3.63.1.dylib
lrwxr-xr-x  1 azadm  staff  188 24 Nov 17:14 libYARP_name.2.3.63.1.dylib -> /Users/azadm/Library/Developer/Xcode/DerivedData/YARP-cgxqybpcvusjbaejikbitjspbvzm/ArchiveIntermediates/ALL_BUILD/IntermediateBuildFilesPath/UninstalledProducts/libYARP_name.2.3.63.1.dylib
lrwxr-xr-x  1 azadm  staff   20 24 Nov 17:14 libYARP_name.dylib -> libYARP_name.1.dylib
lrwxr-xr-x  1 azadm  staff  182 24 Nov 17:14 libYARP_priv_sqlite.a -> /Users/azadm/Library/Developer/Xcode/DerivedData/YARP-cgxqybpcvusjbaejikbitjspbvzm/ArchiveIntermediates/ALL_BUILD/IntermediateBuildFilesPath/UninstalledProducts/libYARP_priv_sqlite.a
lrwxr-xr-x  1 azadm  staff  183 24 Nov 17:14 libYARP_priv_tinyxml.a -> /Users/azadm/Library/Developer/Xcode/DerivedData/YARP-cgxqybpcvusjbaejikbitjspbvzm/ArchiveIntermediates/ALL_BUILD/IntermediateBuildFilesPath/UninstalledProducts/libYARP_priv_tinyxml.a
lrwxr-xr-x  1 azadm  staff  180 24 Nov 17:14 libYARP_serversql.a -> /Users/azadm/Library/Developer/Xcode/DerivedData/YARP-cgxqybpcvusjbaejikbitjspbvzm/ArchiveIntermediates/ALL_BUILD/IntermediateBuildFilesPath/UninstalledProducts/libYARP_serversql.a
lrwxr-xr-x  1 azadm  staff   26 24 Nov 17:14 libYARP_sig.1.dylib -> libYARP_sig.2.3.63.1.dylib
lrwxr-xr-x  1 azadm  staff  187 24 Nov 17:14 libYARP_sig.2.3.63.1.dylib -> /Users/azadm/Library/Developer/Xcode/DerivedData/YARP-cgxqybpcvusjbaejikbitjspbvzm/ArchiveIntermediates/ALL_BUILD/IntermediateBuildFilesPath/UninstalledProducts/libYARP_sig.2.3.63.1.dylib
lrwxr-xr-x  1 azadm  staff   19 24 Nov 17:14 libYARP_sig.dylib -> libYARP_sig.1.dylib
jeljaik commented 9 years ago

Ok, that looks just fine. Before we proceed to some sort of remote assistance, we would like you to do one last thing. Please provide us with the following info:

echo $DYLD_LIBRARY_PATH
otool -L $CODYCO_SUPERBUILD_DIR/install/mex/robotState.mexmaci64
otool -L $CODYCO_SUPERBUILD_DIR/install/lib/libyarpwholebodyinterface.dylib

Also for this test, be sure you're launching MATLAB from Terminal and that the branch from where you checked out the code is master (e.g. by typing git branch in $CODYCO_SUPERBUILD_DIR/main/WBIToolbox) and that YARP has been compiled with its default flags (appart from LIB_MATH)

azadm commented 9 years ago 
echo $DYLD_LIBRARY_PATH
/Users/azadm/Documents/codyco-superbuild/build/install/lib:
$CODYCO_SUPERBUILD_DIR/install/mex/robotState.mexmaci64
/Users/azadm/Documents/codyco-superbuild/build/install/mex/robotState.mexmaci64:
    robotState.mexmaci64 (compatibility version 0.0.0, current version 0.0.0)
    @rpath/libwhole-body-interface.0.1.dylib (compatibility version 0.1.0, current version 0.1.0)
    @rpath/libyarpwholebodyinterface.0.0.1.dylib (compatibility version 0.0.1, current version 0.0.1)
    @rpath/libparamhelp.0.0.1.dylib (compatibility version 0.0.1, current version 0.0.1)
    @rpath/libidyntree.0.0.1.dylib (compatibility version 0.0.1, current version 0.0.1)
    /Users/azadm/Documents/yarp/build/lib/Release/libYARP_OS.1.dylib (compatibility version 1.0.0, current version 2.3.63)
    /Users/azadm/Documents/yarp/build/lib/Release/libYARP_sig.1.dylib (compatibility version 1.0.0, current version 2.3.63)
    /Users/azadm/Documents/yarp/build/lib/Release/libYARP_math.1.dylib (compatibility version 1.0.0, current version 2.3.63)
    /Users/azadm/Documents/yarp/build/lib/Release/libYARP_dev.1.dylib (compatibility version 1.0.0, current version 2.3.63)
    /Users/azadm/Documents/yarp/build/lib/Release/libYARP_name.1.dylib (compatibility version 1.0.0, current version 2.3.63)
    /Users/azadm/Documents/yarp/build/lib/Release/libYARP_init.1.dylib (compatibility version 1.0.0, current version 2.3.63)
    @rpath/libmex.dylib (compatibility version 0.0.0, current version 0.0.0)
    @rpath/libmx.dylib (compatibility version 0.0.0, current version 0.0.0)
    @rpath/libeng.dylib (compatibility version 0.0.0, current version 0.0.0)
    /usr/local/lib/libgsl.0.dylib (compatibility version 18.0.0, current version 18.0.0)
    /usr/local/lib/libgslcblas.0.dylib (compatibility version 1.0.0, current version 1.0.0)
    @rpath/libkdl-codyco.0.1.dylib (compatibility version 0.1.0, current version 0.1.2)
    @rpath/libkdl-format-io.0.0.dylib (compatibility version 0.0.0, current version 0.0.1)
    /Users/azadm/Documents/codyco-superbuild/build/install/lib/liborocos-kdl.1.2.dylib (compatibility version 1.2.0, current version 1.2.3)
    /usr/local/lib/liburdfdom_sensor.dylib (compatibility version 0.0.0, current version 0.0.0)
    /usr/local/lib/liburdfdom_model_state.dylib (compatibility version 0.0.0, current version 0.0.0)
    /usr/local/lib/liburdfdom_model.dylib (compatibility version 0.0.0, current version 0.0.0)
    /usr/local/lib/liburdfdom_world.dylib (compatibility version 0.0.0, current version 0.0.0)
    /usr/local/lib/libconsole_bridge.0.2.dylib (compatibility version 0.2.0, current version 0.0.0)
    /usr/local/lib/libtinyxml.dylib (compatibility version 0.0.0, current version 0.0.0)
    /usr/lib/libc++.1.dylib (compatibility version 1.0.0, current version 120.0.0)
    /usr/lib/libSystem.B.dylib (compatibility version 1.0.0, current version 1197.1.1)
otool -L $CODYCO_SUPERBUILD_DIR/install/lib/libyarpwholebodyinterface.dylib
/Users/azadm/Documents/codyco-superbuild/build/install/lib/libyarpwholebodyinterface.dylib:
    @rpath/libyarpwholebodyinterface.0.0.1.dylib (compatibility version 0.0.1, current version 0.0.1)
    /Users/azadm/Documents/yarp/build/lib/Debug/libYARP_OS.1.dylib (compatibility version 1.0.0, current version 2.3.63)
    /Users/azadm/Documents/yarp/build/lib/Debug/libYARP_sig.1.dylib (compatibility version 1.0.0, current version 2.3.63)
    /Users/azadm/Documents/yarp/build/lib/Debug/libYARP_math.1.dylib (compatibility version 1.0.0, current version 2.3.63)
    /Users/azadm/Documents/yarp/build/lib/Debug/libYARP_dev.1.dylib (compatibility version 1.0.0, current version 2.3.63)
    /Users/azadm/Documents/yarp/build/lib/Debug/libYARP_name.1.dylib (compatibility version 1.0.0, current version 2.3.63)
    /Users/azadm/Documents/yarp/build/lib/Debug/libYARP_init.1.dylib (compatibility version 1.0.0, current version 2.3.63)
    @rpath/libidyntree.0.0.1.dylib (compatibility version 0.0.1, current version 0.0.1)
    @rpath/libwhole-body-interface.0.1.dylib (compatibility version 0.1.0, current version 0.1.0)
    @rpath/libparamhelp.0.0.1.dylib (compatibility version 0.0.1, current version 0.0.1)
    /usr/local/lib/libgsl.0.dylib (compatibility version 18.0.0, current version 18.0.0)
    /usr/local/lib/libgslcblas.0.dylib (compatibility version 1.0.0, current version 1.0.0)
    @rpath/libkdl-codyco.0.1.dylib (compatibility version 0.1.0, current version 0.1.2)
    @rpath/libkdl-format-io.0.0.dylib (compatibility version 0.0.0, current version 0.0.1)
    /Users/azadm/Documents/codyco-superbuild/build/install/lib/liborocos-kdl.1.2.dylib (compatibility version 1.2.0, current version 1.2.3)
    /usr/local/lib/liburdfdom_sensor.dylib (compatibility version 0.0.0, current version 0.0.0)
    /usr/local/lib/liburdfdom_model_state.dylib (compatibility version 0.0.0, current version 0.0.0)
    /usr/local/lib/liburdfdom_model.dylib (compatibility version 0.0.0, current version 0.0.0)
    /usr/local/lib/liburdfdom_world.dylib (compatibility version 0.0.0, current version 0.0.0)
    /usr/local/lib/libconsole_bridge.0.2.dylib (compatibility version 0.2.0, current version 0.0.0)
    /usr/local/lib/libtinyxml.dylib (compatibility version 0.0.0, current version 0.0.0)
    /usr/lib/libc++.1.dylib (compatibility version 1.0.0, current version 120.0.0)
    /usr/lib/libSystem.B.dylib (compatibility version 1.0.0, current version 1197.1.1)
azadm commented 9 years ago

I am launching MATLAB from terminal. The branch is master and YARP is compiled with its default flags.

jeljaik commented 9 years ago

Something that looks quite weird to us are the YARP libraries that are being linked by robotState.mexmaci64 and libyarpwholebodyinterface.dylib. While for the first one it links against:

/Users/azadm/Documents/yarp/build/lib/Release/libYARP_OS.1.dylib (compatibility version 1.0.0, current version 2.3.63)

For the second one it does against: /Users/azadm/Documents/yarp/build/lib/Debug/libYARP_OS.1.dylib (compatibility version 1.0.0, current version 2.3.63)

That is not desirable. However let's try to get in touch via Skype so we can provide you with some better assistance. Please add @francesco-romano and myself. Skype username: francy87.romano Skupe username: jorhabib

azadm commented 9 years ago

I see. The thing is that I don't remember if I used the terminal version or Xcode to install YARP. I have YARP.xcodeproj in yarp/build folder but I have export PATH=$YARP_DIR/bin/Release:$PATH in my bash_profile

jeljaik commented 9 years ago

How do you feel about installing YARP from scratch? and controlling all environmental variables point to the correct directories? :)

azadm commented 9 years ago

Then would I also need to reinstall codyco-superbuild, icub and gazebo-yarp-plugins?

jeljaik commented 9 years ago

Yes, but it should be a matter of just recompiling everything. No need to download anything again.

azadm commented 9 years ago

OK. I did that but everything is the same as it was before. Same errors and same outputs.

azadm commented 9 years ago

The problem is solved now. The thing was that I compiled YARP using Xcode whereas I installed codyco-superbuild using make command in terminal. Thanks @jeljaik

jeljaik commented 9 years ago

Thanks for reporting @azadm!

Jorhabib Eljaik Gómez,Ph.D. Student - Istituto Italiano di Tecnologia Dept. of Robotics, Brain and Cognitive Sciences Cognitive Humanoids Laboratory e-mail: jorhabib.eljaik@iit.it Cel: +39 388 352 33 85 Tel: +39 010 71781 420 Fax: +39 010 7170817

On Tue, Dec 2, 2014 at 12:54 PM, azadm notifications@github.com wrote:

The problem is solved now. The thing was that I compiled YARP using Xcode whereas I installed codyco-superbuild using make command in terminal. Thanks @jeljaik https://github.com/jeljaik

— Reply to this email directly or view it on GitHub https://github.com/robotology-playground/WBI-Toolbox/issues/30#issuecomment-65220263 .

iron76 commented 9 years ago

@azadm mixing Xcode with make should not be an issue. We will investigate and try to replicate the issue. Thanks for reporting. @francesco-romano opinions?

francesco-romano commented 9 years ago

@iron76 I completely agree with you. The (binary) result of make and xcodebuild is the same.

azadm commented 9 years ago

@iron76 yes I didn't think so either. but it seems to be important at least on my machine. I just removed the build folder of codyco-superbuild and made it again for Xcode and now it works fine.

azadm commented 9 years ago

There is also one more thing. When I tried to build the codyco-superbuild.xcodeproj file using Xcode, it didn't work and showed an error (which i don't remember what that was). but it worked when I used xcodebuild command in terminal.

iron76 commented 9 years ago

I compiled on Xcode all the projects with no issues. Let us know if you notice anything else.

azadm commented 9 years ago

This is the error I get when I use Xcode to build. However running xcodebuild command in terminal gives back no error.

echo "Performing configure step for 'paramHelp'"
Performing configure step for 'paramHelp'
cd /Users/azadm/Documents/codyco-superbuild/build/libraries/paramHelp && /usr/local/Cellar/cmake/3.0.2/bin/cmake --no-warn-unused-cli -DCMAKE_PREFIX_PATH:PATH=/Users/azadm/Documents/codyco-superbuild/build/install -DCMAKE_INSTALL_PREFIX:PATH=/Users/azadm/Documents/codyco-superbuild/build/install -DCMAKE_BUILD_TYPE:STRING= -DCMAKE_SKIP_RPATH:PATH=\"NO\" -DBUILD_SHARED_LIBS:BOOL= -GXcode /Users/azadm/Documents/codyco-superbuild/libraries/paramHelp
Not searching for unused variables given on the command line.
-- The CXX compiler identification is AppleClang 6.0.0.6000054
-- Check for working CXX compiler using: Xcode
-- Check for working CXX compiler using: Xcode -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Found YCM: /Users/azadm/Documents/codyco-superbuild/build/install/share/YCM (found version "0.2.0~20141201.16+git45b4963")
CMake Error at CMakeLists.txt:21 (find_package):
  By not providing "FindYARP.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "YARP", but
  CMake did not find one.

  Could not find a package configuration file provided by "YARP" with any of
  the following names:

    YARPConfig.cmake
    yarp-config.cmake

  Add the installation prefix of "YARP" to CMAKE_PREFIX_PATH or set
  "YARP_DIR" to a directory containing one of the above files.  If "YARP"
  provides a separate development package or SDK, be sure it has been
  installed.

-- Configuring incomplete, errors occurred!
See also "/Users/azadm/Documents/codyco-superbuild/build/libraries/paramHelp/CMakeFiles/CMakeOutput.log".
make: *** [/Users/azadm/Documents/codyco-superbuild/build/libraries/paramHelp/CMakeFiles/YCMStamp/Debug/paramHelp-configure] Error 1
Command /bin/sh failed with exit code 2
francesco-romano commented 9 years ago

But which .xcodeproj are you opening?

azadm commented 9 years ago

codyco-superbuild.xcodeproj

francesco-romano commented 9 years ago

I am a bit lost at this point, sorry.

jeljaik commented 9 years ago

Since this has been identified to be no longer a WBI-Toolbox, but rather a problem in the yarp installation, I'm closing this issue.