Error by S-function 'robotState' in Joint Angles: [mdlStart] in robotConfig

[andreadelprete]

Hi, when running the simulink model "controllerWithHandControl" located in "torqueBalancing" I get the following error:

Error reported by S-function 'robotState' in 'controllerWithHandControl/Subsystem/Joint Angles/S-Function':
ERROR [mdlStart] in robotConfig.

I'm using Matlab 2013a on Mac OS X 10.9, iCubGazeboSim is running using gazebo3. Any idea what the problem is about?

[iron76]

Please run matlab on a terminal and send us the output that is printed on the terminal. Francesco

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Francesco Nori Robotics Brain Cognitive Science Department Cognitive Humanoids Lab Istituto Italiano di Tecnologia Via Morego, 30 16163 Genova, Italy http://people.liralab.it/iron/ francesco.nori@iit.itmailto:francesco.nori@iit.it

Phone: (+39) 010 71 781 420 Fax: +39 010 71 70 817

On Jun 23, 2014, at 6:39 PM, Andrea Del Prete wrote:

Hi, when running the simulink model "controllerWithHandControl" located in "torqueBalancing" I get the following error:

Error reported by S-function 'robotState' in 'controllerWithHandControl/Subsystem/Joint Angles/S-Function': ERROR [mdlStart] in robotConfig.

I'm using Matlab 2013a on Mac OS X 10.9, iCubGazeboSim is running using gazebo3. Any idea what the problem is about?

— Reply to this email directly or view it on GitHubhttps://github.com/robotology-playground/WBI-Toolbox/issues/4.

[andreadelprete]

After a long skype chat with @jeljaik we managed to solve the problem. It was due to a number of reasons:

• I didn't set correctly the environment variable YARP_DATA_DIRS
• The default robotName used by the simulink model was "iCubGenova01", but to use it with the gazebo simulator I had to change it to "icubGazeboSim"
• When running Matlab from the terminal the matlab's path seems not to load the usual pathdef.m file located in ~/Documents/MATLAB

After taking care of these issues I managed to execute the controller!

[jeljaik]

Also Andrea did not have an updated version of the WBI Toolbox. Basically in the version he had, he would have had to manually change the path to the URDF file of the robot he wanted to simulate in the corresponding .ini file. This problem however should not appear anymore after a recent update that takes care of finding the corresponding URDF file for the specified robotName, which are additionally. These URDF files are now shipped in ${CODYCO_SUPERBUILD_ROOT}/codyco/WBIToolbox/libraries/wbInterface/conf/wbit. This is however described in the section Using the Simulink Library of the documentation (along with how to set the YARP_DATA_DIRS env. variable). The actual problem here is that there's no README.md for the controllers we know that work. This should be done and I will open the corresponding issue. In such file it should be described that the variables robotName and localName need to be set correctly in the mask of the model along with any other specific instruction on how to run the particular controller with the real platform or the simulator for example. Probably suitable initial gains for each might also be suggested.