golems/amino

Lightweight robotics utility library

amino's Issues

Fortran error in compilation

amino fails to compile for me because of (I think) Fortran version errors.

• With gfortran 5.4.1, 6.4.1, and 8.1.0 I get a large number of syntax errors while compiling src/la_implf.f90. They seem to stem from a line truncation/unterminated character constant at line 447. (note that I'm forcing the earlier versions of gfortran by running e.g. FC=gfortran-5 F77=gfortran-5 ./configure for gfortran 5.4.1.)

• With f2c 12.02.01, I get an error that "mem_mod.f90 does not end in .f or .F" (note that I'm forcing f2c by running FC=f2c F77=f2c ./configure.)

I suspect that these errors are version related because I'm on Arch Linux, which tends to have newer versions than Xenial (the Travis environment). I've skimmed the Travis logs, and it seems you're using GCC 4.8.4 there. I would be a bit surprised if enough changed in gfortran between 4.8.4 and 5.4.1 to cause compilation to break, but I know very little about Fortran, so perhaps this is the case.

Do you have any suggestions for debugging my build? I have tried using ./configure --without-fortran, but this causes other errors - gcc: error: euler.c: No such file or directory.

My versions of each of the required dependencies are:

• gcc: 8.1.0
• gfortran or f2c versions: as above
• maxima: 5.41.0
• flex: 2.6.4

OpenGL in VirtualBox

Running under VirtualBox, the following options break OpenGL:

SDL_GL_SetAttribute(SDL_GL_MULTISAMPLEBUFFERS, 1);
SDL_GL_SetAttribute(SDL_GL_MULTISAMPLESAMPLES, 2);

undefined reference to 'aa_rx_wf_mtl_parse'

Hello, I am getting this error in Ubuntu 18.04 with all dependencies installed. It looks like the object is not included in libamino.so but I cannot find the cause.

src/test/wavefront_test.o: In function main': /home/pbustos/software/amino/src/test/wavefront_test.c:15: undefined reference to aa_rx_wf_parse'
./.libs/libamino.so: undefined reference to `aa_rx_wf_mtl_parse'
collect2: error: ld returned 1 exit status

Thanks

Error during make

During make, I am getting the following error. Can you help me resolve this.

CCLD aarx-view
./.libs/libamino.so: undefined reference to `aa_rx_ik_opt_err_qlnpv'
collect2: error: ld returned 1 exit status
Makefile:2513: recipe for target 'aarx-view' failed
make[2]: *** [aarx-view] Error 1
make[2]: Leaving directory '/home/asus/TM-kit/amino'
Makefile:3755: recipe for target 'all-recursive' failed
make[1]: *** [all-recursive] Error 1
make[1]: Leaving directory '/home/asus/TM-kit/amino'
Makefile:1985: recipe for target 'all' failed
make: *** [all] Error 2

Expose Ray tracer

The ray tracer is currently only exposed in the Lisp API. It should be exposed also via one of:

• A shell tool
• A C API
• A (CL)Python API

Remove extra memory region in struct aa_ct_{pt,seg}_list

aa_ct_pt_list and aa_ct_seg_list should use the memory region passed during creation for all allocations.

Blender Collada support

While setting up amino I got the warning :

configure: WARNING: Blender lacks COLLADA support, cannot load DAE meshes

I have blender 2.82a and I can import COLLADA files directly without any issues.
Any idea how I can solve this error?

Check blender collada support

• Check for blender and collada support at configure time.
• Provide a reasonable error message if blender fails during scene graph compilation (usually due to lack of collada support.)

Trajectory tests should run headless

Trajectory tests currently open a gnuplot window. make check should be able to run headless.

Add demo for Fetch Robot

Will need additional support in the URDF parser for "continuous" joints and ideally the corresponding, appropriate OMPL state space

Use OMPL Goal Sampler for Workspace

Currently, workspace motion planning goals use a single jointspace IK solution. We should instead use an OMPL goal sampler to allow multiple jointspace solutions.

amino/def.h error while calling #include <amino.h>

I installed the amino library from git, following the standard procedure mentioned on http://amino.golems.org/installation.html

After the installation, I verified amino installed as /usr/local/include/amino-1.0

I wrote a c++ code, which is calling amino library as follow:
#include <amino-1.0/amino.h>

This yields the following error:
/usr/local/include/amino-1.0/amino/la_impl.h:44:23: fatal error: amino/def.h: No such file or directory
#include "amino/def.h"
^
compilation terminated.

As per my understanding, it seems that this is the error on your end. Please do let me know if I had not followed the instruction properly.

Thanks

Could not Compile with OMPL (Missing Eigen soln doesn't work)

I am trying to install Amino (before installing tmkit) on a Docker container that uses Ubuntu 18.04. When I try to run ./configure, I get the following:

checking bundled TypedSpaceInformation.h... no
checking compat TypedSpaceInformation.h using boost::shared_ptr... no
checking compat TypedSpaceInformation.h using std::shared_ptr... no
configure: error: Could not compile with OMPL TypedSpaceInformation

According to my config.log file (attached blow), the issue seems to be the Missing Eigen Dependency. I tried the Missing Eigen Dependency fix from the Amino Install page, but I still get the same error. Is there another way to resolve this issue when the recommended fix fails?

config.log

Document non-repo dependencies better

On recent debian and ubuntu, we need non-distribution versions of blender and sbcl. Document this better, possible with pointers to downloading the binaries.

Optimize collision checking

Reduce collision checking time during motion planning by only testing frames that have moved.

configure: error: Could not compile with OMPL TypedSpaceInformation

I am working on installing amino (on my way to installing tmkit) on macOS Mojave following the guide.

I'm encountering the following when I run ./configure:

...
checking for ompl... yes
checking bundled TypedSpaceInformation.h... no
checking compat TypedSpaceInformation.h using boost::shared_ptr... no
checking compat TypedSpaceInformation.h using std::shared_ptr... no
configure: error: Could not compile with OMPL TypedSpaceInformation

I can share the rest of the log if it's useful.

The first suspicious message is checking bundled TypedSpaceInformation.h... no, which suggests that it's looking for but not able to find that header file in the amino directory. But I see that in amino/include/amino/ompl-compat/ompl/base, the file TypedSpaceInformation.h does exist.

Thanks for any guidance you can offer!

Add integration tests on Ubuntu 18.04 and Arch Linux

See also:

• #22
• ompl/ompl#110

Compile demos

• Compile demos from a top-level make.
• Provide a separate example using a simple makefile to compile URDF.

ld: library not found for -lnlopt

(Hi, sorry to bother you again with what is probably a question with an obvious answer.)

I'm on macOS Mojave and I can successfully run ./configure. When I subsequently run make, however, I encounter the following:

...
Warning: 'test_unit' defined but not used [-Wunused-function]
src/test/la_test.F90:219:0:

  219 |   subroutine test_colfit()
      | 
Warning: 'test_colfit' defined but not used [-Wunused-function]
  FCLD     la_test
ld: library not found for -lnlopt
collect2: error: ld returned 1 exit status
make[2]: *** [la_test] Error 1
make[1]: *** [all-recursive] Error 1
make: *** [all] Error 2

I do have nlopt installed. Some things I have tried, with no change, are:

• Add PKG_CONFIG_PATH=/usr/local/opt/nlopt/lib/pkgconfig during ./configure
• Add LIBS=-lnlopt during ./configure
• Add LDFLAGS=-L/usr/local/opt/nlopt/lib during ./configure

Thanks for your help and patience!

Make Error

In the make step, I am getting the following error output:

: -t ./src/wavefront/wavefront.l > src/wavefront/wavefront.c
: -t ./src/wavefront/mtl.l > src/wavefront/mtl.c
make  all-recursive
make[1]: Entering directory '/home/user/Repositories/amino'
make[2]: Entering directory '/home/user/Repositories/amino'
  CC       src/mem.lo
  CC       src/refcount.lo
  CC       src/la.lo
  CC       src/la2.lo
  CC       src/opt/opt.lo
  CC       src/tf.lo
  CC       src/tf/tfmatrix.lo
  CC       src/tf/quat.lo
  CC       src/tf/conv.lo
  CC       src/mac/euler_f2c.lo
  CC       src/rx/errstr.lo
  CXX      src/rx/scenegraph.lo
src/rx/scenegraph.cpp: In destructor ‘virtual amino::SceneFrame::~SceneFrame()’:
src/rx/scenegraph.cpp:70:33: warning: range-based ‘for’ loops only available with -std=c++11 or -std=gnu++11
     for( struct aa_rx_geom *g : geometry ) {
                                 ^
src/rx/scenegraph.cpp: In destructor ‘amino::SceneGraph::~SceneGraph()’:
src/rx/scenegraph.cpp:214:16: error: ISO C++ forbids declaration of ‘pair’ with no type [-fpermissive]
     for( auto &pair : frame_map ) delete pair.second;
                ^
src/rx/scenegraph.cpp:214:23: warning: range-based ‘for’ loops only available with -std=c++11 or -std=gnu++11
     for( auto &pair : frame_map ) delete pair.second;
                       ^
src/rx/scenegraph.cpp:214:47: error: request for member ‘second’ in ‘pair’, which is of non-class type ‘int’
     for( auto &pair : frame_map ) delete pair.second;
                                               ^
src/rx/scenegraph.cpp:217:16: error: ISO C++ forbids declaration of ‘pair’ with no type [-fpermissive]
     for( auto &pair : limits_map ) free(pair.second);
                ^
src/rx/scenegraph.cpp:217:23: warning: range-based ‘for’ loops only available with -std=c++11 or -std=gnu++11
     for( auto &pair : limits_map ) free(pair.second);
                       ^
src/rx/scenegraph.cpp:217:46: error: request for member ‘second’ in ‘pair’, which is of non-class type ‘int’
     for( auto &pair : limits_map ) free(pair.second);
                                              ^
src/rx/scenegraph.cpp: In member function ‘int amino::SceneGraph::index()’:
src/rx/scenegraph.cpp:242:15: error: ‘itr’ does not name a type
     for( auto itr = frame_map.begin(); itr != frame_map.end(); itr++ ) {
               ^
src/rx/scenegraph.cpp:242:40: error: expected ‘;’ before ‘itr’
     for( auto itr = frame_map.begin(); itr != frame_map.end(); itr++ ) {
                                        ^
src/rx/scenegraph.cpp:242:40: error: ‘itr’ was not declared in this scope
src/rx/scenegraph.cpp:254:15: error: ‘itr’ does not name a type
     for( auto itr = frame_map.begin(); itr != frame_map.end(); itr++ ) {
               ^
src/rx/scenegraph.cpp:254:40: error: expected ‘;’ before ‘itr’
     for( auto itr = frame_map.begin(); itr != frame_map.end(); itr++ ) {
                                        ^
src/rx/scenegraph.cpp:254:40: error: ‘itr’ was not declared in this scope
src/rx/scenegraph.cpp:271:19: error: ‘itr’ does not name a type
         for( auto itr = list.begin();
                   ^
src/rx/scenegraph.cpp:272:14: error: expected ‘;’ before ‘itr’
              itr != list.end();
              ^
src/rx/scenegraph.cpp:272:14: error: ‘itr’ was not declared in this scope
src/rx/scenegraph.cpp: In member function ‘void amino::SceneGraph::add(amino::SceneFrame*)’:
src/rx/scenegraph.cpp:316:10: error: ‘itr’ does not name a type
     auto itr = frame_map.find(f->name);
          ^
src/rx/scenegraph.cpp:317:28: error: ‘itr’ was not declared in this scope
     if( frame_map.end() != itr ) {
                            ^
Makefile:3039: recipe for target 'src/rx/scenegraph.lo' failed
make[2]: *** [src/rx/scenegraph.lo] Error 1
make[2]: Leaving directory '/home/user/Repositories/amino'
Makefile:3523: recipe for target 'all-recursive' failed
make[1]: *** [all-recursive] Error 1
make[1]: Leaving directory '/home/user/Repositories/amino'
Makefile:1861: recipe for target 'all' failed
make: *** [all] Error 2

It seems to be related to usage of pair variable.

I am building using GNU Make 4.1 on Ubuntu 16.04 64-bit. Please help me resolve this.