Importing ETS2 Problem

[Ercan DÜZGÜN]

Dear Users,

I have problem with executing the code of

import ETS2.*

I didn't understand what this code does, but when I execute this code, nothing happens (nothing happens in the workspace too).

In the book, on the subject of 7.2.1.1 Closed Form Solution, the codes are;

import ETS2.*
a1 = 1; a2 = 1;
E = Rz('q1') * Tx(a1) * Rz('q2') * Tx(a2)

When I execute these codes, Matlab gives this error: Undefined function or variable 'Rz'.

What is the wrong, could you explain?

Thanks in advance..

[Peter Corke]

what version of MATLAB?  Did you previously import ETS3.*?

[hekt...@gmail.com]

Same problem here, "Undefined function or variable 'Rz', just trying to execute

>> import ETS2.*
>> a1 = 1;

>> E = Rz('q1') * Tx(a1)

from chapter 7.1.1
Matlab version is 2015a

[Shayan Asim]

Hello everyone,

I am experiencing the same problem. Toolbox works like a charm in Chapter 2 but I wanted to begin with Arm Robots and it's giving the same error as you defined. I am using the book as means to understand Robotics with help from the toolbox. I have Matlab R2013b, version 8.1, which has so far given me no problems with Pose and it's manipulations. However, when I run rtbdemo, I can't interact with the interface.

I would really appreciate any kind of help.

Thank you in advance!

[marc]

I'm using this book to teach a class, and I and at least three other students can confirm the code at the top of page 194 doesn't work. I can even make a single ETS2 object like this:

E = ETS2('Rz', 'q1')

but then I can't multiply it like this:

E =  ETS2('Rz', 'q1')* ETS2('Tx', 'a1')

as it throws an error.

[jasonkol...@gmail.com]

I'm having the same problem too. Was it every resolved? I really don't know what the import ETS2.* command even does. I am able to do the exercises in Chapter 2 without a problem.
Jason

[jasonkol...@gmail.com]

Peter
Did you have any idea why this occurs? I'm in the same boat. Wonderful toolbox. Chapter 2 code works great but the Chapter 7 stuff does not. Seems like an issue with the import command. I'm having the same problem as the others. After the import ETS2.* command the Rz() command says undefined.
Jason

[Peter Corke]

Sorry guys, the distro is missing some essential packages.  Unzip the attached and put +ETS2 and +ETS3 folders into rvctools/robot.  Then all should be well.  Let me know how it goes.

Peter

[Jason Kolodziej]

Peter

Thanks. That worked. But my path was:

\Documents\MATLAB\Add-Ons\Toolboxes\Robotics Toolbox for MATLAB\code\robot

 

A search of my HD did not find the rvctools folder. Odd.

 

Will future installs of the toolbox have the ETS2 and 3 folders in the correct location? The reason I ask is that if I as my students to download the toolbox will I have to provide the Archive.zip file you sent me?

 

 

Last.

The CH7 steps work up to the point I try E.teach and then I get the following error. It might be a path thing again that I’ll try to trouble shoot. Seems like a figure problem.

 

Thanks again Peter for the quick response

-Jason

 

 

Warning: arrow option requires arrow3 from FileExchange

> In trplot2 (line 104)

  In ETS2/draw_ets (line 685)

  In ETS2/plot (line 493)

  In ETS2/teach (line 370)

No method 'animate' with matching signature found for class

'ETS2.Rz'.

Error in RTBPlot.teach_callback (line 436)

            animate(teachhandles.robot, info.q);

Error in RTBPlot.install_teach_panel (line 381)

            RTBPlot.teach_callback([], name, [], teachhandles);

Error in ETS2/teach (line 372)

            RTBPlot.install_teach_panel('ETS2', robot, q, opt);

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[Peter Corke]

On Tuesday, 17 October 2017 02:28:46 UTC+10, Jason Kolodziej wrote:

Peter

Thanks. That worked. But my path was:

\Documents\MATLAB\Add-Ons\Toolboxes\Robotics Toolbox for MATLAB\code\robot

 

A search of my HD did not find the rvctools folder. Odd.

You installed the .mltbx file, that doesn't have rvctools folder. 

 

 

Will future installs of the toolbox have the ETS2 and 3 folders in the correct location? The reason I ask is that if I as my students to download the toolbox will I have to provide the Archive.zip file you sent me?

Yes, it's top of my list to repackage the toolbox 

 

 

Last.

The CH7 steps work up to the point I try E.teach and then I get the following error. It might be a path thing again that I’ll try to trouble shoot. Seems like a figure problem.

I'll have a look at this urgently as well.  The arrow3 warning is only a cosmetic thing, the animate problem is more serious.

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[Jason R. Kolodziej]

Peter if this still gets to you. Why do I get this? This makes sense if the function is expecting degrees but I didn’t use the ‘deg’ option.  I thought the toolbox was all radians? See below when I give it a radians value.

 

>> SE3.rpy(0,45,0)

 

ans =

    0.7071         0    0.7071         0

         0         1         0         0

   -0.7071         0    0.7071         0

         0         0         0         1

 

Not right when given radians.

>> SE3.rpy(0,45*pi/180,0)

 

ans =

    0.9999         0    0.0137         0

         0         1         0         0

   -0.0137         0    0.9999         0

         0         0         0         1

 

 

It is equal to the radian solution when I use ‘deg’. Which is completely opposite

 

>> SE3.rpy(0,45,0,'deg')

 

ans =

    0.9999         0    0.0137         0

         0         1         0         0

   -0.0137         0    0.9999         0

         0         0         0         1

 

 

From: robotics...@googlegroups.com [mailto:robotics...@googlegroups.com] On Behalf Of Peter Corke
Sent: Monday, October 16, 2017 7:33 AM
To: Robotics & Machine Vision Toolboxes <robotics...@googlegroups.com>
Subject: [Robotics Toolbox] Re: Importing ETS2 Problem

 

Sorry guys, the distro is missing some essential packages.  Unzip the attached and put +ETS2 and +ETS3 folders into rvctools/robot.  Then all should be well.  Let me know how it goes.

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[Erik van Oene]

Hi,

that looks the same problem as my remark in my last post...
can you check what varargin is at line 794 of SE3, by puting a breakpoint there.

            obj = SE3( SO3.rpy(varargin{:}) );

Erik

Op woensdag 8 november 2017 23:35:58 UTC+1 schreef Jason R. Kolodziej:

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[Peter Corke]

Jason, I think this is also solved.  It was your path problem and the rogue rotx function.

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[wille...@gmail.com]

Hello all,

Still getting following error when trying to run E.teach

>> E.teach
creating new ETS plot
Undefined function 'animate' for input arguments of type 'ETS2.Rz'.

Error in RTBPlot.teach_callback (line 436)
            animate(teachhandles.robot, info.q);

Error in RTBPlot.install_teach_panel (line 381)
            RTBPlot.teach_callback([], name, [], teachhandles);

Error in ETS2/teach (line 372)
            RTBPlot.install_teach_panel('ETS2', robot, q, opt);

However, I installed the updated 10.2 toolbox right from the start.

Op dinsdag 1 augustus 2017 13:10:24 UTC+2 schreef Ercan DÜZGÜN:

[Peter Corke]

Willem,

send a complete code example so that folk can recreate your problem, and also the result of 

>> ver

[Ercan DÜZGÜN]

Dear Peter Corke;

The robotic toolbox of "teach" plot doesn't work.

Details: The example on page 195; the codes "import ETS2.*", "a1=1", "E=Rz('q1')*Tx(a1)", "E.fkine(30,'deg')", ---> this part of codes work. When I execute "E.teach", it plots the figure. But the robotic arm doesn't change when I change the sliderbar of angle q. 

I am using the last version of your toolbox (Download RTB-10.2 mltbx format (32.7 MB)), on Matlab 2017a Ubuntu 64bit.

Kind regards,

Ercan 

--

[Willem Remie]

Peter,

code is exact same case as page 194;

import ETS2.*
a1=1;
E=Rz('q1')*Tx(a1);
E.fkine(30,'deg');

E.teach

with resulting error after running

>> robot_arm_kinematics

creating new ETS plot
Undefined function 'animate' for input arguments of type 'ETS2.Rz'.

Error in RTBPlot.teach_callback (line 436)
            animate(teachhandles.robot, info.q);

Error in RTBPlot.install_teach_panel (line 381)
            RTBPlot.teach_callback([], name, [], teachhandles);

Error in ETS2/teach (line 372)
            RTBPlot.install_teach_panel('ETS2', robot, q, opt);

Error in robot_arm_kinematics (line 7)
E.teach

However, the figure opens but when changing the joint angle by means of the slider the command windows shows following warning:

Warning: Error occurred while executing the listener callback for event ContinuousValueChange defined for class
matlab.ui.control.UIControl:

Undefined function 'animate' for input arguments of type 'ETS2.Rz'.

Error in RTBPlot.teach_callback (line 436)
            animate(teachhandles.robot, info.q);

Error in RTBPlot>@(src,event)RTBPlot.teach_callback(src,name,j,teachhandles) (line 376)
                    @(src,event)RTBPlot.teach_callback(src, name, j, teachhandles) );

Please find both code and results of ver enclosed.

Regards,

Willem

Op zaterdag 25 november 2017 23:57:16 UTC+1 schreef Peter Corke:

[Aland Bravo]

It worked partially using the following code:

import ETS2.*

syms a1 q1

trchain2('R(q1) Tx(a1)',q1)

% Visualizando el Brazo Robotico

mdl_planar1

p1.plot([0])

p1.teach

import ETS3.*

syms q1 q2 a1 a2

trchain2('R(q1) Tx(a1) R(q2) Tx(a2)',[q1 q2])

mdl_planar2

p2.plot([0 0])

p2.teach

Hope it help ...

[Peter Corke]

OK, can you try this.

Comment out lines 529-531 of ETS2.m

%    end
%      
%    methods (Access=private)