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  #16   Spotlight this post!  
Unread 22-01-2016, 19:35
andres_garbio andres_garbio is offline
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Re: FRCSIM Help

It works! we don't have the slow execution problem anymore. Although when we crash into the box the robot falls under the floor. It's a very minor bug though.

We'll tell you if the fix works. Thank you.
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  #17   Spotlight this post!  
Unread 22-01-2016, 22:40
Peter Mitrano Peter Mitrano is offline
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Re: FRCSIM Help

Quote:
Originally Posted by Bitbucket View Post
Hi Peter
Thanks for the response.

I found references to the the problem on google but wasn't sure how to interpret them in relation to Gazebo.

I'm running on a 2006 Dell XPS 400 with an Intel processor (PENTIUM D PRESLER, 940, 3.2G, 2X2M, C1) with 4GB of memory and a straight install of ubuntu 14.04 on the hard disk drive - no dual boot, no Windows on the system at all. I don't know what brand graphics card is in it (I tried to find a brand name on it, but didn't see one). I'm willing to try buying another graphics card if you can suggest one that would likely work and not cost more than $30-$40.

-Bob

Dang, that's some ancient hardware. I'm not surprised it's not running on such old hardware. There's a lot more too it than "I have 4gb of ram!". Unfortunately, I'm the opposite of an expert on what hardware will support the 3D rendering Gazebo requires.

My first start would be to try some other 3d graphics tests--this likely isn't Gazebo's fault. Try installing and running "glxgears", or other Ubuntu 3D graphics tests. Also, you really do need to figure out if you have a graphics card... most laptops just have built in graphics. That isn't necessarily a problem (I use built-in graphics) but you should at least know
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  #18   Spotlight this post!  
Unread 24-01-2016, 01:33
Peter Mitrano Peter Mitrano is offline
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Re: FRCSIM Help

Quote:
Originally Posted by andres_garbio View Post
Although when we crash into the box the robot falls under the floor. It's a very minor bug though.

We'll tell you if the fix works. Thank you.
Ya, just watch out for setting motor speeds to Nan in usePIDOutput and the robot won't

fall under the floor.
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  #19   Spotlight this post!  
Unread 09-02-2017, 09:57
sac65849 sac65849 is offline
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Re: FRCSIM Help c++

Hello I am trying to get the GearsBot example to compile using the Linux_simulate option in Eclipse. I have updated the toolchains and tools in a fresh Ubuntu 14.04 install. The example seems to compile with no reported errors in Debug mode.
My compiler errors start with
'frc' has not been declared in Claw.h
I think I need updated files in my local wpilib/simulation/include dir
any tips are appreciated!
thanks
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  #20   Spotlight this post!  
Unread 09-02-2017, 15:57
sac65849 sac65849 is offline
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Re: FRCSIM Help

Update I found simulation-2017.2.1.zip and simulation-2017.1.1.zip on the wpi website and the frc errors were resolved however now i a getting linking error...

uilding file: ../src/Robot.cpp
Invoking: GCC C++ Compiler
g++ -std=c++11 -I"/home/rasta/workspace/GearsBot/src" -I/home/rasta/wpilib/simulation/include -I/usr/include -I/usr/include/ignition/math2 -I/usr/include/sdformat-3.7 -I/usr/include/gazebo-6.7 -I"/home/rasta/wpilib/user/cpp/include" -O0 -Og -g3 -Wall -c -fmessage-length=0 -MMD -MP -MF"src/Robot.d" -MT"src/Robot.o" -o "src/Robot.o" "../src/Robot.cpp"
Finished building: ../src/Robot.cpp

Building target: FRCUserProgram
Invoking: GCC C++ Linker
g++ -L/usr/lib/x86_64-linux-gnu -L/home/rasta/wpilib/simulation/lib -L"/home/rasta/wpilib/user/cpp/lib" -Wl,-rpath,/opt/GenICam_v3_0_NI/bin/Linux32_ARM -Xlinker -rpath /home/rasta/wpilib/simulation/lib -o "FRCUserProgram" ./src/Subsystems/Claw.o ./src/Subsystems/DriveTrain.o ./src/Subsystems/Elevator.o ./src/Subsystems/Wrist.o ./src/Commands/Autonomous.o ./src/Commands/CloseClaw.o ./src/Commands/DriveStraight.o ./src/Commands/OpenClaw.o ./src/Commands/Pickup.o ./src/Commands/Place.o ./src/Commands/PrepareToPickup.o ./src/Commands/SetDistanceToBox.o ./src/Commands/SetElevatorSetpoint.o ./src/Commands/SetWristSetpoint.o ./src/Commands/TankDriveWithJoystick.o ./src/OI.o ./src/Robot.o -lwpi
/usr/bin/ld: cannot find -lwpi
collect2: error: ld returned 1 exit status
make: *** [FRCUserProgram] Error 1
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  #21   Spotlight this post!  
Unread 10-02-2017, 23:07
richardssam richardssam is offline
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Re: FRCSIM Help

I've seen the config for eclipse get corrupted, and for some reason the libraries default to the standard build libraries, either hand-reentering them, or makeing a new build will clean it up.

I havent figured out what does that yet...

Sam.
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  #22   Spotlight this post!  
Unread Yesterday, 11:48
sac65849 sac65849 is offline
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Re: FRCSIM Help

Thanks Sam,
In my case I created a new GearsBot Project and the linuxsimulate makefile now is populated with values from objects.mk LIBS := -lwpilibcSim -lgz_msgs -lntcore -lgazebo_client -lboost_system

Not sure how the .mk file is generated but for some reason Eclipse sometimes ends up trying to link with an empty objects.mk file resulting in errors. At least I know what to look for now. Based on other error flags and not finding plugin errors I have updated to gazebo 7 and updated my simulate includes to reflect gazebo-7 and sdformat-4.2.

After a clean and reindex I still get the MS Visual Studio12.0....amd64\cl not found in path error but I now seem to get through the compile and linking stage and able to get it to run in WPILibC++ simulation mode with many good renning code console messages ie

[exec] Initialized ~/simulator/pwm/7
eventually getting
[exec] Initialized ~/simulator/dio/5
[exec] Result:139

Google tells me this is a seg fault but not sure where to go from here.

any and all thoughts are appreciated!
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  #23   Spotlight this post!  
Unread Yesterday, 13:53
richardssam richardssam is offline
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Re: FRCSIM Help

Sounds like you are trying to use the C++ code (I should have thought about it in the last email). I found the problem in src/OI.cpp

frc::SmartDashboard:utData("Open Claw", new OpenClaw());
frc::SmartDashboard:utData("Close Claw", new CloseClaw());

Is declared before the dashboard is initialized. You can try commenting them
out, or put them in their own init function.

This seems to get it to not crash, but I'm not getting clean data from the joystick controller, to the system. I'm wondering if the latest code is really functional.

Sam.
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