FRCsim problem in the environment build

coach_erickin · January 25, 2017, 9:21pm

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(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.team190.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.
[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

dreckner · January 29, 2017, 11:24am

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.

bhwithun · January 30, 2017, 10:17pm

I think I’m having the same problem here.

     [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.

dreckner · February 5, 2017, 5:59pm

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/maven/release/edu/wpi/first/wpilib/simulation/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!

DaveFrederick · February 6, 2017, 8:53pm

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

BrianK · February 8, 2017, 12:18am

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.

rtielking · February 8, 2017, 11:08pm

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.

dreckner · February 17, 2017, 7:54pm

I was working in Java

raybaranoski · September 6, 2017, 11:11pm

Thanks so much for posting these steps, dreckner. That worked for me and I spent more time than I want to admit trying to get that robot to respond in GearsBot project. This was the help I needed…