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#1
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FRCsim problem in the environment build
Hi everyone, I have try many method to build the FRCsim on Ubuntu 14.04. But the same problem was appear below when the program running on the eclipse:
[java] NOTE|WPILibJSim: Encoder.setDistancePerPulse() assumes 360 pulses per revolution in simulation. [java] NOTE|WPILibJSim: Encoder.setDistancePerPulse() assumes 360 pulses per revolution in simulation. [java] java.lang.NoClassDefFoundError: edu/wpi/first/wpilibj/command/TimedCommand [java] at java.lang.ClassLoader.defineClass1(Native Method) [java] at java.lang.ClassLoader.defineClass(ClassLoader.java :763) [java] at java.security.SecureClassLoader.defineClass(Secure ClassLoader.java:142) [java] at java.net.URLClassLoader.defineClass(URLClassLoader .java:467) [java] at java.net.URLClassLoader.access$100(URLClassLoader. java:73) [java] at java.net.URLClassLoader$1.run(URLClassLoader.java: 368) [java] at java.net.URLClassLoader$1.run(URLClassLoader.java: 362) [java] at java.security.AccessController.doPrivileged(Native Method) [java] at java.net.URLClassLoader.findClass(URLClassLoader.j ava:361) [java] at java.lang.ClassLoader.loadClass(ClassLoader.java:4 24) [java] at sun.misc.Launcher$AppClassLoader.loadClass(Launche r.java:331) [java] at java.lang.ClassLoader.loadClass(ClassLoader.java:3 57) [java] at org.usfirst.frc.team190.robot.Robot.robotInit(Robo t.java:42) [java] at edu.wpi.first.wpilibj.IterativeRobot.startCompetit ion(IterativeRobot.java:65) [java] at edu.wpi.first.wpilibj.RobotBase.main(RobotBase.jav a:198) [java] Caused by: java.lang.ClassNotFoundException: edu.wpi.first.wpilibj.command.TimedCommand [java] at java.net.URLClassLoader.findClass(URLClassLoader.j ava:381) [java] at java.lang.ClassLoader.loadClass(ClassLoader.java:4 24) [java] at sun.misc.Launcher$AppClassLoader.loadClass(Launche r.java:331) [java] at java.lang.ClassLoader.loadClass(ClassLoader.java:3 57) [java] ... 15 more [java] WARNING: Robots don't quit! [java] ---> The startCompetition() method (or methods called by it) should have handled the exception above. [java] WARNING|Gazebo Transport: Ignoring unsubscribe: topic: "/gazebo/frc/simulator/pwm/7" [java] host: "192.168.136.132" [java] port: 47071 [java] msg_type: "gazebo.msgs.Float64" 1.the program was the Geatsbot ecample, we found the error was in the constructor of IO(Robot.java:42). 2.We confirm to build on the same user 3.The build was fallow the below link: http://wpilib.screenstepslive.com/s/4485/m/23353 SOS |
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#2
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Re: FRCsim problem in the environment build
I am having the same issue. Have you made any progress? I have been able to get the getting started project to work in the simulator in autonomous mode.
Also, there is a separate build.xml in the wpilib/java/current/ant directory that has a subsection for "jar-simulation" that introduces unique paths that doesn't include the wpilib directories. Not sure if that is an issue or not. |
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#3
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Re: FRCsim problem in the environment build
I think I'm having the same problem here.
Code:
[echo] [simulate] You may now run Gazebo and your DriverStation
[echo] [simulate] Running Code.
[java] resources = |sun.misc.CompoundEnumeration@2401f4c3|
[java] platform: /Linux/amd64/
[java] Initialized simulator/dio/1/2
[java] Initialized simulator/dio/3/4
[java] NOTE|WPILibJSim: Encoder.setDistancePerPulse() assumes 360 pulses per revolution in simulation.
[java] NOTE|WPILibJSim: Encoder.setDistancePerPulse() assumes 360 pulses per revolution in simulation.
[java] NOTE|WPILibJSim: Encoder.setDistancePerPulse() assumes 360 pulses per revolution in simulation.
[java] NOTE|WPILibJSim: Encoder.setDistancePerPulse() assumes 360 pulses per revolution in simulation.
[java] WARNING|Gazebo Transport: Ignoring unsubscribe: topic: "/gazebo/frc/simulator/pwm/7"
[java] host: "192.168.1.8"
[java] port: 52438
[java] msg_type: "gazebo.msgs.Float64"
[java] java.lang.NoClassDefFoundError: edu/wpi/first/wpilibj/command/TimedCommand
[java] at java.lang.ClassLoader.defineClass1(Native Method)
[java] at java.lang.ClassLoader.defineClass(ClassLoader.java:763)
[java] at java.security.SecureClassLoader.defineClass(SecureClassLoader.java:142)
[java] at java.net.URLClassLoader.defineClass(URLClassLoader.java:467)
[java] at java.net.URLClassLoader.access$100(URLClassLoader.java:73)
[java] at java.net.URLClassLoader$1.run(URLClassLoader.java:368)
[java] at java.net.URLClassLoader$1.run(URLClassLoader.java:362)
[java] at java.security.AccessController.doPrivileged(Native Method)
[java] at java.net.URLClassLoader.findClass(URLClassLoader.java:361)
[java] at java.lang.ClassLoader.loadClass(ClassLoader.java:424)
[java] at sun.misc.Launcher$AppClassLoader.loadClass(Launcher.java:331)
[java] at java.lang.ClassLoader.loadClass(ClassLoader.java:357)
[java] at org.usfirst.frc.team2832.robot.Robot.robotInit(Robot.java:42)
[java] at edu.wpi.first.wpilibj.IterativeRobot.startCompetition(IterativeRobot.java:65)
[java] at edu.wpi.first.wpilibj.RobotBase.main(RobotBase.java:198)
[java] Caused by: java.lang.ClassNotFoundException: edu.wpi.first.wpilibj.command.TimedCommand
[java] at java.net.URLClassLoader.findClass(URLClassLoader.java:381)
[java] at java.lang.ClassLoader.loadClass(ClassLoader.java:424)
[java] at sun.misc.Launcher$AppClassLoader.loadClass(Launcher.java:331)
[java] at java.lang.ClassLoader.loadClass(ClassLoader.java:357)
[java] ... 15 more
[java] WARNING: Robots don't quit!
[java] ---> The startCompetition() method (or methods called by it) should have handled the exception above.
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#4
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Re: FRCsim problem in the environment build
I was able to find a workaround that seems to resolve the issue.
I discovered that there are alternate versions of the simulation code: http://first.wpi.edu/FRC/roborio/mav...on/simulation/ so I deleted the simulation directory and then recreated it using the most recent version simulation-2017.2.1.zip mkdir ~/wpilib/simulation unzip ~/Downloads/simulation-2017.2.1.zip -d ~/wpilib/simulation after I moved the files to the new simulation directory, I attempted to rebuild gz_msgs it wouldn't work with gazebo6 so i installed gazebo7 and then rebuilt the gz_msgs sudo apt-get install gazebo7 move to ~/wpilib/simulation/gz_msgs mkdir build cd build cmake .. make install I opened Eclipse. I deleted my GearsBot project and recreated it. Everything worked! |
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#5
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Re: FRCsim problem in the environment build
I have been able to work through the issues with the script.
See below. Dave Frederick Team 1895 - Manassas VA =============================================== Issues with the current FRCSIM installation script. Mainly permission errors. The current script creates folders under the users home directory (/home/robot) which are owned by root and cannot be accessed by the script (even with sudo). There is a similar error when the models are unzipped under the /tmp folder. The file permissions prevent a move. In addition, the model.zip file expands out to "frcsim-gazebo-models-4" and not "frcsim-gazebo-models" as expected in the script. Below are the corrective actions. Dave Frederick ===================================== ## Change 1 ## - Change the ownership of all of the files under the user "robot" home directory to robot with group robot chown -R robot:robot /home/robot/* ## Change 2 ## - Make all of the files under the /tmp folder readable and deletable by robot. chmod -R /tmp/* 777 unzip /tmp/models.zip -d /tmp cd ~ chown -R robot:robot /home/robot/* chmod -R /tmp/* 777 mv /tmp/frcsim-gazebo-models-4/models ~/wpilib/simulation/models mv /tmp/frcsim-gazebo-models-4/worlds ~/wpilib/simulation/worlds ============= install-eclipse-plugins install-gz_msgs install-eclipse install-desktops install-models change-ownership ## Change 3 ## - Change the ownership of all of the files under the user "robot" home directory to robot with group robot chown -R robot:robot /home/robot/* ## Change 4 ## - Create copies of the plugins so the match the expected values. cp /home/robot/wpilib/simulation/plugins/libclock.so /home/robot/wpilib/simulation/plugins/libgz_clock.so cp /home/robot/wpilib/simulation/plugins/libdc_motor.so /home/robot/wpilib/simulation/plugins/libgz_dc_motor.so cp /home/robot/wpilib/simulation/plugins/libencoder.so /home/robot/wpilib/simulation/plugins/libgz_encoder.so cp /home/robot/wpilib/simulation/plugins/libgyro.so /home/robot/wpilib/simulation/plugins/libgz_gyro.so cp /home/robot/wpilib/simulation/plugins/liblimit_switch.so /home/robot/wpilib/simulation/plugins/libgz_limit_switch.so cp /home/robot/wpilib/simulation/plugins/libpneumatic_piston.so /home/robot/wpilib/simulation/plugins/libgz_pneumatic_piston.so cp /home/robot/wpilib/simulation/plugins/libpotentiometer.so /home/robot/wpilib/simulation/plugins/libgz_potentiometer.so cp /home/robot/wpilib/simulation/plugins/librangefinder.so /home/robot/wpilib/simulation/plugins/libgz_rangefinder.so cp /home/robot/wpilib/simulation/plugins/libservo.so /home/robot/wpilib/simulation/plugins/libgz_servo.so |
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#6
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Re: FRCsim problem in the environment build
Thanks for the update 2017.2.1 simulation code, dreckner. Just curious though; when you say it worked, were you using Java or C++? I encountered the same issue as described previously in the thread in Java, but I'm curious about C++. In the FRCSim I installed in January, it seemed that the C++ wpilib had pre-2017 code. I base that statement on the fact that 1) somewhere in the "New for 2017!" ScreenSteps instructions it stated that the frc namespace had been introduced and 2) I was able to build the Getting Stated C++ project in FRCSim provided I removed all the namespace references.
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#7
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Re: FRCsim problem in the environment build
FYI, you can rebuild the wpilibjSimulation.jar file yourself without to much trouble. The source code is located at https://github.com/wpilibsuite/allwpilib
git clone https://github.com/wpilibsuite/allwpilib.git cd allwpilib git tag --list ( this command will show the release tags available ) git checkout v2017.2.1 ( or whatever the latest release tag is ) ./gradlew -PmakeSim :wpilibj:wpilibjSimJar cp wpilibj/build/libs/wpilibjSimulation.jar ~/wpilib/simulation/jar/ The benefit of building it yourself is fixing any issue you see such as simulated motor controllers not having a setInverted method. |
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