bugs in iKin tutorials

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bugs in iKin tutorials

Fabien Benureau
This post was updated on .
Hi,

I just updated the wiki regarding the installation of IpOpt on OS X. iCub on OSX
I found a couple of issues with the iKin tutorials code, I don't have the moral rights to fix them (nor the experience to ensure they don't break on other platforms).

If this is not the right place (is there an issue tracker somewhere ?) to post this, don't hesitate to tell me.

I found out that for fwInvKinematics and onlineSolver, the compilation produced :
$ make
Scanning dependencies of target onlineSolver
[100%] Building CXX object CMakeFiles/onlineSolver.dir/main.cpp.o
Linking CXX executable onlineSolver
ld: warning: directory not found for option '-L/usr/local/share/OpenCV/3rdparty/lib'
ld: library not found for -lipopt
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [onlineSolver] Error 1
make[1]: *** [CMakeFiles/onlineSolver.dir/all] Error 2
make: *** [all] Error 2

Which was fixed in both case by editing the CMakeList.txt, replacing
IF(NOT ICUB_USE_IPOPT)
    MESSAGE(FATAL_ERROR "IPOPT is required")
ENDIF(NOT ICUB_USE_IPOPT)
By
IF(NOT ICUB_USE_IPOPT)
    MESSAGE(FATAL_ERROR "IPOPT is required")
ENDIF(NOT ICUB_USE_IPOPT)
INCLUDE(FindIPOPT)

And for genericChainController, make crashed in a seemingly non-OSX specific way.
Scanning dependencies of target genericChainController
[100%] Building CXX object CMakeFiles/genericChainController.dir/main.cpp.o
/Users/fabien/Research/local/macsi/iCub/main/src/libraries/iKin/tutorials/genericChainController/main.cpp:361:16: error: no matching member function for call to 'write'
        port_v.write(zeros(chain->getDOF()));
        ~~~~~~~^~~~~
/usr/local/Cellar/yarp/HEAD/include/yarp/os/Port.h:110:10: note: candidate function not viable: no known conversion from 'yarp::sig::Vector' to 'yarp::os::PortWriter &' for 1st argument;
    bool write(PortWriter& writer, PortWriter *callback = 0 /*NULL*/);
         ^
/usr/local/Cellar/yarp/HEAD/include/yarp/os/Port.h:122:10: note: candidate function not viable: requires at least 2 arguments, but 1 was provided
    bool write(PortWriter& writer, PortReader& reader, 
         ^
1 error generated.
make[2]: *** [CMakeFiles/genericChainController.dir/main.cpp.o] Error 1
make[1]: *** [CMakeFiles/genericChainController.dir/all] Error 2
make: *** [all] Error 2
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Re: bugs in iKin tutorials

pattacini
Hi Fabien

Somehow the corrections you proposed did not show up in your previous email.
Could you please send them again so that I'll inspect the issue?

Moreover, I've never read before the installation notes for Ipopt under homebrew, but right now my attention is caught by this statement:

"In theory, MUMPS provides the same functionality and is open-source. In practice, it doesn't work well."

This sounds a bit strange to me since both under Linux and Windows systems we are currently using MUMPS successfully.
Could the author of this sentence (is it you?) tell me more about the misbehavior of MUMPS under Mac?

Cheers,
Ugo




>-----Original Message-----
>From: Fabien Benureau [mailto:[hidden email]]
>Sent: venerdì 31 agosto 2012 15:04
>To: [hidden email]
>Subject: [rc-hackers] bugs in iKin tutorials
>
>Hi,
>
>I just updated the wiki regarding the installation of IpOpt on OS X.
>I found a couple of issues with the iKin tutorials code, I don't have the
>moral rights to fix them (nor the experience to ensure they don't break on
>other platforms).
>
>If this is not the right place (is there an issue tracker somewhere ?) to post
>this, don't hesitate to tell me.
>
>I found out that for fwInvKinematics and onlineSolver, the compilation
>produced :
>
>
>Which was fixed in both case by editing the CMakeList.txt, replacing
>
>By
>
>
>And for genericChainController, make crashed in a seemingly non-OSX specific
>way.
>
>
>
>
>--
>View this message in context: http://robotcub-
>hackers.2198711.n2.nabble.com/bugs-in-iKin-tutorials-tp7577601.html
>Sent from the RobotCub Hackers mailing list archive at Nabble.com.
>
>------------------------------------------------------------------------------
>Live Security Virtual Conference
>Exclusive live event will cover all the ways today's security and threat
>landscape has changed and how IT managers can respond. Discussions will
>include endpoint security, mobile security and the latest in malware threats.
>http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/
>_______________________________________________
>Robotcub-hackers mailing list
>[hidden email]
>https://lists.sourceforge.net/lists/listinfo/robotcub-hackers
>
>-----
>Nessun virus nel messaggio.
>Controllato da AVG - www.avg.com
>Versione: 2012.0.2197 / Database dei virus: 2437/5236 -  Data di rilascio:
>30/08/2012

------------------------------------------------------------------------------
Live Security Virtual Conference
Exclusive live event will cover all the ways today's security and
threat landscape has changed and how IT managers can respond. Discussions
will include endpoint security, mobile security and the latest in malware
threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/
_______________________________________________
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Re: bugs in iKin tutorials

Fabien Benureau
Hi Ugo,

Ugo Pattacini wrote
Somehow the corrections you proposed did not show up in your previous email.
Could you please send them again so that I'll inspect the issue?
The corrections are available here :
http://robotcub-hackers.2198711.n2.nabble.com/bugs-in-iKin-tutorials-td7577601.html
(seems the raw blocks don't translate into text in emails).

Ugo Pattacini wrote
Moreover, I've never read before the installation notes for Ipopt under homebrew, but right now my attention is caught by this statement:

"In theory, MUMPS provides the same functionality and is open-source. In practice, it doesn't work well."

This sounds a bit strange to me since both under Linux and Windows systems we are currently using MUMPS successfully.
Could the author of this sentence (is it you?) tell me more about the misbehavior of MUMPS under Mac?
It's me. Ok. Well, I spent yesterday working on getting MUMPS to works, but it somehow failed. In retrospect, I might have been caused to an unrelated issue. I corrected the sentence to state that it should work but wasn't tested. If I have the time, I'll get around to test it again.

Best,
Fabien
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Re: bugs in iKin tutorials

pattacini
Regarding issue #2, you're right, that code is fine for windows and not for linux-like system: fixed.

Regarding issue #1, the patch you propose is not general-purpose and is rather a workaround just for mac; indeed in linux and windows the CMakeLists is ok.
What I suspect is that the part relative to MAC within the FindIPOPT file, which is responsible for linking the directory in order to make it visible, is not called from within the iCub helpers macros. Therefore we have to investigate this issue deeper and come up with a definitive fix.

Thanks for pointing it out.

Ciao,
Ugo

>-----Original Message-----
>From: Fabien Benureau [mailto:[hidden email]]
>Sent: venerdì 31 agosto 2012 17:09
>To: [hidden email]
>Subject: Re: [rc-hackers] bugs in iKin tutorials
>
>Hi Ugo,
>
>
>Ugo Pattacini wrote
>>
>> Somehow the corrections you proposed did not show up in your previous
>> email.
>> Could you please send them again so that I'll inspect the issue?
>>
>
>The corrections are available here :
>http://robotcub-hackers.2198711.n2.nabble.com/bugs-in-iKin-tutorials-
>td7577601.html
>(seems the raw blocks don't translate into text in emails).
>
>
>Ugo Pattacini wrote
>>
>> Moreover, I've never read before the installation notes for Ipopt
>> under homebrew, but right now my attention is caught by this statement:
>>
>> "In theory, MUMPS provides the same functionality and is open-source.
>> In practice, it doesn't work well."
>>
>> This sounds a bit strange to me since both under Linux and Windows
>> systems we are currently using MUMPS successfully.
>> Could the author of this sentence (is it you?) tell me more about the
>> misbehavior of MUMPS under Mac?
>>
>
>It's me. Ok. Well, I spent yesterday working on getting MUMPS to works, but it
>somehow failed. In retrospect, I might have been caused to an unrelated issue.
>I corrected the sentence to state that it should work but wasn't tested. If I
>have the time, I'll get around to test it again.
>
>Best,
>Fabien
>
>
>
>--
>View this message in context: http://robotcub-
>hackers.2198711.n2.nabble.com/bugs-in-iKin-tutorials-tp7577601p7577603.html
>Sent from the RobotCub Hackers mailing list archive at Nabble.com.
>
>------------------------------------------------------------------------------
>Live Security Virtual Conference
>Exclusive live event will cover all the ways today's security and threat
>landscape has changed and how IT managers can respond. Discussions will
>include endpoint security, mobile security and the latest in malware threats.
>http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/
>_______________________________________________
>Robotcub-hackers mailing list
>[hidden email]
>https://lists.sourceforge.net/lists/listinfo/robotcub-hackers
>
>-----
>Nessun virus nel messaggio.
>Controllato da AVG - www.avg.com
>Versione: 2012.0.2197 / Database dei virus: 2437/5236 -  Data di rilascio:
>30/08/2012

------------------------------------------------------------------------------
Live Security Virtual Conference
Exclusive live event will cover all the ways today's security and
threat landscape has changed and how IT managers can respond. Discussions
will include endpoint security, mobile security and the latest in malware
threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/
_______________________________________________
Robotcub-hackers mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/robotcub-hackers