Re: Error messages

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Re: Error messages

Rosen Diankov
Administrator
hi junggon,

It seems you are getting: "fatal error C1074", which is a compilation error

Because there is no native support for windows 7 x64, you cannot mix
x64 DLLs with x32 DLLs. OpenRAVE is compiled in 32-bit mode so it only
loads 32bit DLLS. I'm not sure what version of python you have
installed, but when compiling through python, it will try to compile a
64bit DLL... maybe?

All these loading problems occur because the plugins
(tmcIdealController) and ikfast is not compiled with the same settings
(or VC++) that openrave was compiled with.

i'm not sure how to fix these problems since, in my opinion, we should
be thankful that openrave works on win7 without any modifications. If
you want to convert win7 into a development platform for openrave, you
need to compile natively and forget all this 32-bt back-compat stuff.
This requires you build win7 x64 bit versions of all the libraries
openrave depends on (you can find a list of them in the lib/win32
folder)

rosen,

2010/8/24 Junggon Kim <[hidden email]>:

> Hi Rosen,
>
> Tobias in Georgia Tech is experiencing problems in running my python
> script on his windows 7 machine. According to the message, there are
> two problems there:
>
> 1. OpenRAVE failed to load my c++ plugin (tmcIdealController) though
> the plugin had been compiled successfully.
> 2. OpenRAVE failed to load IK solvers: IKFast generated a cpp file but
> it couldn't make a DLL file from it.
>
> We're currently using r1501 for some reasons, and the python script
> runs well in my windows xp machine. Do you have any idea on the
> problems?  (Below are a part of the python script and the error
> message.)
>
> Thank you.
> -Junggon
>
> ----- python script --------
>    ...
>    # load tmcIdealController plugin
>    if sys.platform == 'win32':
>        env.LoadPlugin(os.path.abspath('../openrave/plugins/tmcIdealController/build/Release/tmcIdealController.dll'))
>    elif sys.platform == 'linux2':
>        env.LoadPlugin(os.path.abspath('../openrave/plugins/tmcIdealController/libtmcIdealController.so'))
>    else:
>        raise ValueError('unsupported OS platform')
>
>    controller = env.CreateController('tmcIdealController')
>    robot.SetController(controller)
>
>    # load IK model for each manipulator
>    for i, arm in enumerate(robot.GetManipulators()):
>        robot.SetActiveManipulator(i)
>        ikmodel =
> databases.inversekinematics.InverseKinematicsModel(robot,iktype=IkParameterization.Type.Transform6D)
>        if not ikmodel.load():
>            ikmodel.autogenerate()
>            ikmodel.load()
>
> ------ error message ----------
> [openravepy_int.cpp:2688] viewer qtcoin successfully attached
> [KinBody.cpp:2252] Successfully computed joint hierarchy for number of
> joints 2!
>
> [xmlreaders.h:2057] <armjoints> for <manipulator> tag is not used anymore
> [xmlreaders.h:2061] <palmdirection> tag in Manipulator changed to
> <direction>
> [xmlreaders.h:2057] <armjoints> for <manipulator> tag is not used anymore
> [xmlreaders.h:2061] <palmdirection> tag in Manipulator changed to
> <direction>
> [KinBody.cpp:2252] Successfully computed joint hierarchy for number of
> joints 35
> !
> [plugindatabase.h:375] Failed to load
> C:\Users\Tobias\Documents\Toyota\openrave\
> plugins\tmcIdealController\build\Release\tmcIdealController.dll
> [plugindatabase.h:311] failed to load:
> C:\Users\Tobias\Documents\Toyota\openrave
> \plugins\tmcIdealController\build\Release\tmcIdealController.dll
> [plugindatabase.h:176] Failed to create name tmcIdealController,
> interface contr
> oller
> C:\Program Files
> (x86)\openrave\share\openrave\openravepy\metaclass.py:22: Depre
> cationWarning: object.__new__() takes no parameters
>  self = super(InstanceTracker, cls).__new__(*args, **kwargs)
> [ikfastproblem.h:185] Failed to load
> C:\Users\Tobias\.openrave\robot.0055e7b9f48
> d88132bbc30c8f8cc72f6\ikfast2.58a3552e24bbf44581f23674940ddd9c.Transform6D.x86.d
> ll
> [ikfastproblem.h:124] failed to load library
> C:\Users\Tobias\.openrave\robot.005
> 5e7b9f48d88132bbc30c8f8cc72f6\ikfast2.58a3552e24bbf44581f23674940ddd9c.Transform
> 6D.x86.dll
> [libopenrave.cpp:736] command failed in problem IKFast: AddIkLibrary
> Generating inverse kinematics for manip leftarm : Transform6D [16, 17,
> 18, 19, 2
> 0, 21, 22] (this might take ~10 min)
> ikfast2.58a3552e24bbf44581f23674940ddd9c.Transform6D.x86.cpp
> C:\Users\Tobias\.openrave\robot.0055e7b9f48d88132bbc30c8f8cc72f6\ikfast2.58a3552
> e24bbf44581f23674940ddd9c.Transform6D.x86.cpp : fatal error C1074: 'IDB'
> is ille
> gal extension for PDB file:
> [environment.h:180] Environment destructor
> [environment.h:188] resetting raveviewer
> [environment.h:215] destroy problems
> Environment destroyed successfully.
> Traceback (most recent call last):
>  File
> "C:\Users\Tobias\Documents\Toyota\python\demo_doormanip_cabinet.py", line
>  92, in <module>
>   ikmodel.autogenerate()
>  File "C:\Program Files
> (x86)\openrave\share\openrave\openravepy\databases\inve
> rsekinematics.py", line 123, in autogenerate
>
> self.generate(iktype=iktype,freejoints=freejoints,usedummyjoints=usedummyjoi
> nts,accuracy=accuracy,precision=precision,forceikbuild=forceikbuild)
>  File "C:\Program Files
> (x86)\openrave\share\openrave\openravepy\databases\inve
> rsekinematics.py", line 220, in generate
>   for objectfile in objectfiles:
> UnboundLocalError: local variable 'objectfiles' referenced before assignment
> QObject::killTimers: timers cannot be stopped from another thread
>
>
> ---------- Forwarded message ----------
> From: Tobias Kunz <[hidden email]>
> Date: Tue, Aug 24, 2010 at 1:32 AM
> Subject: Re: Error messages
> To: Junggon Kim <[hidden email]>
>
>
>
> On 8/23/2010 8:48 PM, Junggon Kim wrote:
>>
>> 1. Have you compiled my plugin successfully after installing current OpenRAVE?
>
> Yes. (current = r1501)
>
>> 2. Can you check if the DLL file for IK exists? (in this case,
>> C:\Users\Tobias\.openrave\robot.0055e7b9f48d88132bbc30c8f8cc72f6\ikfast2.58a3552e24bbf44581f23674940ddd9c.Transform6D.x86.dll)
>
> No. The only file in that directory is
> ikfast2.58a3552e24bbf44581f23674940ddd9c.Transform6D_16_17_19_20_21_22_f18.cpp
>
> Tobias
>

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