Problems with Robotics toolbox version 9.8

[Carlos A.]

Hi all

I installed the new version and run the rtbdemo. I found the next two issues:

- I could not run the arm/Code generation, the next error is shown:

Operands to the || and && operators must be convertible to logical scalar values.

Error in runscript>strfind1 (line 170)

    if ~isempty(r) && (r == 1)

Error in runscript (line 101)

        elseif strfind1(strtrim(line), '%')

Error in rtbdemo (line 101)

            runscript('codegen', opts{:})

- If i run the mdl_puma560.m the next error appears:

Undefined function 'Revolute' for input arguments of type 'char'.

Error in mdl_puma560 (line 73)

L(1) = Revolute('d', 0, 'a', 0, 'alpha', pi/2, ...

 

The other demonstrations are working properly. 

My setup is the next:

MATLAB Version: 8.0.0.783 (R2012b)

Operating System: Mac OS X  Version: 10.8.2 Build: 12C60 

Java Version: Java 1.6.0_37-b06-434-11M3909 with Apple Inc. Java HotSpot(TM) 64-Bit Server VM mixed mode

MATLAB                                                Version 8.0        (R2012b)

Simulink                                              Version 8.0        (R2012b)

Curve Fitting Toolbox                                 Version 3.3        (R2012b)

Database Toolbox                                      Version 4.0        (R2012b)

Fuzzy Logic Toolbox                                   Version 2.2.16     (R2012b)

Image Processing Toolbox                              Version 8.1        (R2012b)

Instrument Control Toolbox                            Version 3.2        (R2012b)

MATLAB Compiler                                       Version 4.18       (R2012b)

Mapping Toolbox                                       Version 3.6        (R2012b)

Neural Network Toolbox                                Version 8.0        (R2012b)

Optimization Toolbox                                  Version 6.2.1      (R2012b)

Parallel Computing Toolbox                            Version 6.1        (R2012b)

Partial Differential Equation Toolbox                 Version 1.1        (R2012b)

Robotics Toolbox                                      Version 9.8.0              

Signal Processing Toolbox                             Version 6.18       (R2012b)

Simscape                                              Version 3.8        (R2012b)

Stateflow                                             Version 8.0        (R2012b)

Statistics Toolbox                                    Version 8.1        (R2012b)

Symbolic Math Toolbox                                 Version 5.9        (R2012b)

System Identification Toolbox                         Version 8.1        (R2012b)

Wavelet Toolbox                                       Version 4.10       (R2012b)

[Peter Corke]

Revolute got left out of the distribution, it's there now, just reload 9.8

On Friday, February 8, 2013 3:35:02 PM UTC+10, star....@gmail.com wrote:

Carlos,
I'm experiencing the same issue.  If you look at the source .m files for the other robots you'll see that Link is being used, not Revolute.
If you simply replace Revolute with Link, this seems to fix the problems.

cheers, Craig

[Carlos A.]

Hi again

- mdl_puma560 is working with the new 9.8 but the Arm/Code generation  demonstration still have issues, the next error appears:

Error using evalin

Undefined function or variable 'mdl_puma560_3'.

Error in runscript (line 140)

                evalin('base', line);

Error in rtbdemo (line 101)

            runscript('codegen', opts{:})

- Arm/Forward Kinematics stops in the third step when it tries to make a clone of the Puma robot, error:

>> p560_2 = SerialLink(p560, ...

Error using runscript (line 140)

Error: This statement is incomplete.

Error in rtbdemo (line 89)

            runscript('graphics', opts{:})

- Mobile/Bug in the fifth step the next error appears:

>> bug.path(start);

Undefined function 'edgelist' for input arguments of type 'double'.

Error in Bug2/next (line 139)

                    bug.edge = edgelist(bug.occgrid==0, robot);

Error in Navigation/path (line 306)

                robot = nav.next(robot);

Error in runscript (line 140)

                evalin('base', line);

Error in rtbdemo (line 109)

            runscript('bugnav', opts{:})

Those are the issues that i found in the new 9.8 after running all the demonstrations of the rtbdemo.

Carlos

[edris farah]

[edris farah]

take mdl_puma560.m file from ver9.7 and replace it in ver9.8 you will find it in robot folder.

it will work ok

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[Joern Malzahn]

Hi everyone,

I just worked on the Arm/Code Generation problems and found two issues.
1) The demo searches for mdl_Puma560_3_sym, which is not there. I renamed it to mdl_Puma560_3 and additionally removed
    the last three vector entries in the "useful poses" section of the script.
2) Finally I must have missed to erase some debug line in the constructor CodeGenerator l. 162: rob = rob.nofriction
    This leads to renaming of the robot to NF/Puma 560, which is not a valid file name to be used for code generation.
After that the Arm/Code Generation demo runs just fine on my machine.

Joern

[Peter Corke]

I reposted 9.8 yet again:

On Monday, February 11, 2013 5:50:11 AM UTC+11, Joern Malzahn wrote:

Hi everyone,

I just worked on the Arm/Code Generation problems and found two issues.
1) The demo searches for mdl_Puma560_3_sym, which is not there. I renamed it to mdl_Puma560_3 and additionally removed
    the last three vector entries in the "useful poses" section of the script.

Now included

 

2) Finally I must have missed to erase some debug line in the constructor CodeGenerator l. 162: rob = rob.nofriction
    This leads to renaming of the robot to NF/Puma 560, which is not a valid file name to be used for code generation.

This patch now included

[Piotr Waksmundzki]

When running RTBDEMO.m, and then ARM/Forward Kinematics I got an error:

Error using runscript (line 140)
Error: This statement is incomplete.

Error in rtbdemo (line 89)
            runscript('graphics', opts{:})

What's wrong?

[Peter Corke]

Hi Piotr,

sorry that you're having trouble with the demo.  I'm overhauling the demos but clearly have done some collateral damage, it doesn't handle continuation lines.

The easiest fix is to go into rvctools/robot/demos and edit graphics.m and change

p560_2 = SerialLink(p560, ...

  'name', 'another Puma', …

  'base', transl(-0.5, 0.5, 0) )

to

p560_2 = SerialLink(p560,  'name', 'another Puma', 'base', transl(-0.5, 0.5, 0) )

The next version of the demo will have better error checking and handle continuation lines.

peter