OMPL integration issue
Posted: 18 Nov 2023, 19:16
Hello,
Apologies for this long winded question. I recently tried to download the sim with OMPL integrated in it. I tried to test it out by running non_holonomic_path_planning.ttt which was located in simOMPL/examples. I got these errors instead:
I ensured that libsimOMPL.so was in the correct directory. I will go over how installed the sim and simOMPL to see if I messed up somewhere. Here were my methods:
I extracted, downloaded, and relocated the CoppeliaSim folder. I renamed it to CoppeliaSim.
I executed the following in the terminal:
I cd'ed to the CoppeliaSim folder and executed:
I went inside the CmakeLists.txt in the simOMPL folder and added these lines after line 16 (list(APPEND .... ):
After saving and closing the .txt file I opened FindCoppeliaSim.cmake in CoppeliaSim/programming/include/cmake and added the following line at line 206.
I had to add the previous line due to the following commands not recognizing my sytem's python3 without me pointing to it. These were done in the build folder of simOMPL that I created.
I also had to install these libraries because the sim said it needed them after I had launched it.
I had run the sim before installing and after installing those two libraries and it didn't seem to change much.
Again sorry for the long winded question, but I wanted to be as detailed as possible so that it would be easier to identify if I did anything wrong.
Thank You,
Antonio S
Apologies for this long winded question. I recently tried to download the sim with OMPL integrated in it. I tried to test it out by running non_holonomic_path_planning.ttt which was located in simOMPL/examples. I got these errors instead:
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[RemoteApi:loadinfo] starting a remote API server on port 19997
[sandboxScript:info] Simulator launched, welcome!
[simCmd:warning] Sandbox language: Python
[CoppeliaSim:info] Scene: /home/antonio/MP_final_project/CoppeliaSim/simOMPL/examples/non_holonomic_path_planning.ttt
Serialization version is 25.
File was previously written with CoppeliaSim version 4.06.00 (rev 6)
[CoppeliaSim:info] Scene opened.
[sandboxScript:info] Simulation started.
[/OMPL@childScript:warning] module 'sim' was implicitly loaded.
[/OMPL@childScript:warning] module 'simUI' was implicitly loaded.
[/OMPL@childScript:error] plugin simOMPL: Cannot load library /home/antonio/MP_final_project/CoppeliaSim/libsimOMPL.so: (libompl.so.16: cannot open shared object file: No such file or directory)
[/OMPL@childScript:error] /home/antonio/MP_final_project/CoppeliaSim/lua/simOMPL.lua:7: attempt to index a nil value (local 'simOMPL')
stack traceback:
/home/antonio/MP_final_project/CoppeliaSim/lua/simOMPL.lua:7: in main chunk
[C]: in field 'require'
/home/antonio/MP_final_project/CoppeliaSim/lua/base.lua:91: in function 'require'
/home/antonio/MP_final_project/CoppeliaSim/lua/base.lua:352: in metamethod '__index'
[string "/OMPL@childScript"]:47: in function 'task'
[string "/OMPL@childScript"]:33: in function 'coroutineMain'
stack traceback:
[C]: in function 'error'
[string "/OMPL@childScript"]:9: in function 'sysCall_actuation'
I extracted, downloaded, and relocated the CoppeliaSim folder. I renamed it to CoppeliaSim.
I executed the following in the terminal:
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sudo apt-get update
sudo apt-get install xsltproc
python3 -m pip install xmlschema
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git clone https://github.com/CoppeliaRobotics/simOMPL.git
cd simOMPL
git checkout coppeliasim-v4.6.0-rev6
mkdir -p build && cd build
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set(CMAKE_MODULE_PATH "~/MP_final_project/CoppeliaSim/programming/include/cmake")
set(CMAKE_PREFIX_PATH "~/MP_final_project")
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set(Python3_ROOT_DIR "/usr/bin")
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cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build .
cmake --install .
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python3 -m pip install pyzmq cbor2
Again sorry for the long winded question, but I wanted to be as detailed as possible so that it would be easier to identify if I did anything wrong.
Thank You,
Antonio S