[RTB] -- Code Generation Error

[Ahmad Gazar]

Hello !

 I have a problem when I tried to do the code generator example for the 2-link. I got the following error below. I always get the same error whether in the demos or when I create my own robot object. I am using Matlab 2015Ra on Ubuntu 14.04 LTS and Robotics Toolbox for Matlab (release 9.10). I have also tried to to do the same on another 4R planar robot and I got the same error with when deriving the gravity vector. Thank you for your time.

Deriving gravitational load vectorError using subsasgn

Assignment has more non-singleton rhs dimensions than non-singleton subscripts

Error in sym/privsubsasgn (line 997)

                L_tilde2 = builtin('subsasgn',L_tilde,struct('type','()','subs',{varargin}),R_tilde);

Error in sym/subsasgn (line 834)

            C = privsubsasgn(L,R,inds{:});

Error in SerialLink/rne_dh (line 219)

                tau(p,j) = t;

Error in SerialLink/rne (line 85)

            [varargout{1:nargout}] = rne_dh(robot, varargin{:});

Error in SerialLink/gravload (line 43)

tg = rne(robot, q, zeros(size(q)), zeros(size(q)));

Error in CodeGenerator/gengravload (line 56)

G = tmpRob.gravload(q);

Error in CodeGenerator/geneverything (line 287)

            [G] = CGen.gengravload;

Error in Robotics_Project (line 3)

cg.geneverything();

[Jörn Malzahn]

Hi,

to me this looks like there is some dimension inconsistency in the way the argument 'q' is passed through the function calls.  I'll look at it and try to fix it as soon as possible.

Jörn

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[mai...@gmail.com]

Any Update? I`m using Matlab 2015a and RTB 9.10. I could build my symbolic robot using CodeGenerator, and I could get Forward Kinematic and Jacobian (using RobotName.genfkine() and RobotName.genjacobian()), but when I try to generate any other method, Matlab shows the same error message: 

"

Deriving robot inertia matrixError using subsasgn

Assignment has more non-singleton rhs dimensions than non-singleton subscripts

Error in sym/privsubsasgn (line 997)

                L_tilde2 =

                builtin('subsasgn',L_tilde,struct('type','()','subs',{varargin}),R_tilde);

Error in sym/subsasgn (line 834)

            C = privsubsasgn(L,R,inds{:});

Error in SerialLink/rne_dh (line 219)

                tau(p,j) = t;

Error in SerialLink/rne (line 85)

            [varargout{1:nargout}] = rne_dh(robot, varargin{:});

Error in SerialLink/inertia (line 61)

m = rne(robot, ones(n,1)*Q.', zeros(n,n), eye(n), [0;0;0]);

Error in CodeGenerator/geninertia (line 58)

inertia = tmpRob.inertia(q);

Error in CodeGenerator/geninvdyn (line 67)

        CGen.geninertia;"

[Alexander Frericks]

Hey,

I had the same problem and I think I found the problem. See the following post for a possible solution:

https://groups.google.com/forum/#!topic/robotics-tool-box/bt12EoKiZFc

Greetings
Alex