udacity / carnd-mpc-project Goto Github PK

Hello,

I experienced this error when I compiled:

Scanning dependencies of target mpc
[ 33%] Building CXX object CMakeFiles/mpc.dir/src/MPC.cpp.o
[ 66%] Building CXX object CMakeFiles/mpc.dir/src/main.cpp.o
[100%] Linking CXX executable mpc
ld: warning: directory not found for option '-L/usr/local/Cellar/libuv/1.12.0/lib'
**ld: library not found for -lipopt**
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [mpc] Error 1
make[1]: *** [CMakeFiles/mpc.dir/all] Error 2
make: *** [all] Error 2

I think the issue is with lipopt. What's the cause of this issue? Is it related to ipopt and Cppad?

Thank you

I do not know why I can not make successfully, it shows as follows:

`make[3]: Leaving directory '/home/usi/Downloads/Ipopt-3.12.8/build/Ipopt/src/Apps/CUTErInterface'
make[3]: Entering directory '/home/usi/Downloads/Ipopt-3.12.8/build/Ipopt/src/Apps'
make[3]: Nothing to be done for 'all-am'.
make[3]: Leaving directory '/home/usi/Downloads/Ipopt-3.12.8/build/Ipopt/src/Apps'
make[2]: Leaving directory '/home/usi/Downloads/Ipopt-3.12.8/build/Ipopt/src/Apps'
make[2]: Entering directory '/home/usi/Downloads/Ipopt-3.12.8/build/Ipopt'
make[2]: Nothing to be done for 'all-am'.
make[2]: Leaving directory '/home/usi/Downloads/Ipopt-3.12.8/build/Ipopt'
make[1]: Leaving directory '/home/usi/Downloads/Ipopt-3.12.8/build/Ipopt'
make[1]: Entering directory '/home/usi/Downloads/Ipopt-3.12.8/build'
make[1]: Nothing to be done for 'all-am'.
make[1]: Leaving directory '/home/usi/Downloads/Ipopt-3.12.8/build'
my operation system: ubuntu 16.04.
gcc (Ubuntu 5.4.0-6ubuntu1~16.04.5) 5.4.0 20160609
GNU Make 4.1

`

When trying to install iopt on macosx sierra with brew I get:

Warning: Calling 'depends_on :mpi' is deprecated!
Use 'depends_on "open-mpi"' instead.
/usr/local/Homebrew/Library/Taps/udacity/homebrew-carnd-mpc-project/mumps.rb:35:in `<class:Mumps>'
Please report this to the udacity/carnd-mpc-project tap!

Warning: Calling 'depends_on :fortran' is deprecated!
Use 'depends_on "gcc"' instead.
/usr/local/Homebrew/Library/Taps/udacity/homebrew-carnd-mpc-project/mumps.rb:38:in `<class:Mumps>'
Please report this to the udacity/carnd-mpc-project tap!

==> Downloading http://mumps.enseeiht.fr/MUMPS_5.1.1.tar.gz
######################################################################## 100.0%
==> make alllib LIBEXT=.dylib AR= -dynamiclib -Wl,-install_name -Wl,/usr/local/Cellar/mumps/5.1.1_1/lib/$(notdir $@) -undefined dynamic_lookup -
Last 15 lines from /Users/lukav/Library/Logs/Homebrew/mumps/01.make:
clang -fPIC -I../include -O  -c symbfac.c -o symbfac.o
clang -fPIC -I../include -O  -c interface.c -o interface.o
clang -fPIC -I../include -O  -c sort.c -o sort.o
clang -fPIC -I../include -O  -c minpriority.c -o minpriority.o
dynamiclib -Wl,-install_name -Wl,/usr/local/Cellar/mumps/5.1.1_1/lib/libpord.dylib -undefined dynamic_lookup -o libpord.dylib graph.o gbipart.o gbisect.o ddcreate.o ddbisect.o nestdiss.o multisector.o gelim.o bucket.o tree.o symbfac.o interface.o sort.o minpriority.o
make[2]: dynamiclib: No such file or directory
make[2]: [libpord.dylib] Error 1 (ignored)
echo libpord.dylib
libpord.dylib
if [ "./PORD/lib/" != "" ] ; then \
	  cp ./PORD/lib//libpord.dylib lib/libpord.dylib; \
	fi;
cp: ./PORD/lib//libpord.dylib: No such file or directory
make[1]: *** [lib/libpord.dylib] Error 1
make: *** [c] Error 2

If reporting this issue please do so to (not Homebrew/brew or Homebrew/core):
udacity/carnd-mpc-project

/usr/local/Homebrew/Library/Homebrew/utils/github.rb:220:in `raise_api_error': curl failed!  (GitHub::Error)
curl: (22) The requested URL returned error: 422 Unprocessable Entity
curl: (3) <url> malformed
	from /usr/local/Homebrew/Library/Homebrew/utils/github.rb:178:in `open_api'
	from /usr/local/Homebrew/Library/Homebrew/utils/github.rb:278:in `search'
	from /usr/local/Homebrew/Library/Homebrew/utils/github.rb:225:in `search_issues'
	from /usr/local/Homebrew/Library/Homebrew/utils/github.rb:238:in `issues_for_formula'
	from /usr/local/Homebrew/Library/Homebrew/exceptions.rb:368:in `fetch_issues'
	from /usr/local/Homebrew/Library/Homebrew/exceptions.rb:364:in `issues'
	from /usr/local/Homebrew/Library/Homebrew/exceptions.rb:418:in `dump'
	from /usr/local/Homebrew/Library/Homebrew/brew.rb:138:in `rescue in <main>'
	from /usr/local/Homebrew/Library/Homebrew/brew.rb:30:in `<main>'

Hi when I ran brew tap udacity/CarND-MPC-Project https://github.com/udacity/CarND-MPC-Project
I got this. How to solve this?

==> Tapping udacity/carnd-mpc-project
Cloning into '/usr/local/Homebrew/Library/Taps/udacity/homebrew-carnd-mpc-project'...
remote: Counting objects: 1747, done.
remote: Compressing objects: 100% (1397/1397), done.
remote: Total 1747 (delta 294), reused 1738 (delta 294), pack-reused 0
Receiving objects: 100% (1747/1747), 2.46 MiB | 824.00 KiB/s, done.
Resolving deltas: 100% (294/294), done.
Error: Invalid formula: /usr/local/Homebrew/Library/Taps/udacity/homebrew-carnd-mpc-project/mumps.rb
Calling 'depends_on :mpi' is disabled!
Use 'depends_on "open-mpi"' instead.
/usr/local/Homebrew/Library/Taps/udacity/homebrew-carnd-mpc-project/mumps.rb:35:in `<class:Mumps>'
Please report this to the udacity/carnd-mpc-project tap!
Or, even better, submit a PR to fix it!
Error: Cannot tap udacity/carnd-mpc-project: invalid syntax in tap!

How to set the simulation environment

If I terminate the simulation using ctrl-z then re-run the simulation, it will simply returns "failed to listen to port". I wonder if there's any solution to this issue besides reboot. Any help will be appreciated.

When I try to run to install ipopt on linux subsystem in windows 10 i am getting this error. Command i tried to execute:

sudo bash install_ipopt.sh Ipopt-3.12.8/

I have unzipped the source in project base directory itself.

I check that this algorithm use OptimizeTNLP for optimizer.
But, I want to know the detail,

Could you tell me which optimizer you used for this MPC? such as QP, LP, CP...?

Listening to port 4567
Connected!!!
42["telemetry",{"ptsx":[-32.16173,-43.49173,-61.09,-78.29172,-93.05002,-107.7717],"ptsy":[113.361,105.941,92.88499,78.73102,65.34102,50.57938],"psi_unity":4.12033,"psi":3.733651,"x":-40.62,"y":108.73,"steering_angle":0,"throttle":0,"speed":0}]
Cost 2.37152e-322
cppad-20160000.1 error from a known source:
vector: index greater than or equal vector size
Error detected by false result for
i < length_
at line 477 in the file
/usr/include/cppad/utility/vector.hpp
mpc: /usr/include/cppad/utility/error_handler.hpp:207: static void CppAD::ErrorHandler::Default(bool, int, const char*, const char*, const char*): Assertion `false' failed.
已放弃 (核心已转储)

Hi @domluna, @baumanab, @swwelch,
Notice that our project doesn't have license, that's a little unprofessional for a open source project, especially there has much extends adoption and development in an online education project. "No license terms" means users don't know it can be used freely. Another reference is Can I call my program "Open Source" even if I don't use an approved license?.

So here I suggest the project add license, recommend we choose one of the below license, firstly because they're all Permissive Licenses, but they have different redistribution disclaimer:

• MIT
• Apache-2.0
• BSD-3-Clause

Regards,
Brandon

When I try to install iopt with brew on MaxOSX Sierra I get:

Warning: Calling 'depends_on :fortran' is deprecated!
Use 'depends_on "gcc"' instead.
/usr/local/Homebrew/Library/Taps/udacity/homebrew-carnd-mpc-project/mumps.rb:38:in `<class:Mumps>'
Please report this to the udacity/carnd-mpc-project tap!

the speed unit in the simulator is actually m/s. If you do a conversion by multiplying 0.447, you are dealing with slower speed and will not work properly in the simulator.

I have installed all the required dependencies. When I typed "make" in the "build" folder, I got the following error:

[100%] Linking CXX executable mpc
/usr/local/lib/libipopt.so: undefined reference to dpotrf_' /usr/local/lib/libipopt.so: undefined reference to dgemm_'
/usr/local/lib/libipopt.so: undefined reference to dnrm2_' /usr/local/lib/libipopt.so: undefined reference to dscal_'
/usr/local/lib/libipopt.so: undefined reference to dpotrs_' /usr/local/lib/libipopt.so: undefined reference to dtrsm_'
/usr/local/lib/libipopt.so: undefined reference to daxpy_' /usr/local/lib/libipopt.so: undefined reference to dgetrf_'
/usr/local/lib/libipopt.so: undefined reference to dcopy_' /usr/local/lib/libipopt.so: undefined reference to idamax_'
/usr/local/lib/libipopt.so: undefined reference to dsyrk_' /usr/local/lib/libipopt.so: undefined reference to dasum_'
/usr/local/lib/libipopt.so: undefined reference to dsyev_' /usr/local/lib/libipopt.so: undefined reference to dmumps_c'
/usr/local/lib/libipopt.so: undefined reference to dgetrs_' /usr/local/lib/libipopt.so: undefined reference to ddot_'
/usr/local/lib/libipopt.so: undefined reference to dsymv_' /usr/local/lib/libipopt.so: undefined reference to dgemv_'
collect2: error: ld returned 1 exit status
CMakeFiles/mpc.dir/build.make:120: recipe for target 'mpc' failed
make[2]: *** [mpc] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/mpc.dir/all' failed
make[1]: *** [CMakeFiles/mpc.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

Any help will be appreciated.

Thanks,

Hanxiang

(Duplicate of udacity/sdc-issue-reports#1251)

NodehError.txt
gcc 7.2.0 already installed
GNU Make 4.2.1
cmake version 3.10.0

Hello, I have not been able to resolve a compiler error that occurs while building main.cpp for SDC Project 5 MPC. I run install-mac.sh and uWebSockets compiles, but appears to have an incompatibility that I cannot figure out how to resolve. Please find NodehError.txt attached showing the install-mac.sh log and the compiler error log. I am thinking that one of the uWebSockets dependencies are not pulled over correctly?
My repository is at https://github.com/bertciccone/CarND-MPC-Project
NodehError.txt
I would appreciate any suggestions for what to try next. Thank you!

While trying to install Ipopt in Mac 10.13, by giving this command "brew install ipopt --with-openblas", I get the following error:

==> Installing ipopt from udacity/carnd-mpc-project
Error: No available formula with the name "scotch5" (dependency of udacity/carnd-mpc-project/ipopt)
==> Searching for a previously deleted formula (in the last month)...
Warning: homebrew/core is shallow clone. To get complete history run:
git -C "$(brew --repo homebrew/core)" fetch --unshallow
Error: No previously deleted formula found.

Any help is appreciated.

Thanks.

Call install_ipopt.sh with the source directory as the first argument, ex: ./install_ipopt.sh Ipopt-3.12.7 or bash install_ipopt.sh Ipopt-3.12.7
and it shows：
bash: ./install_ipopt.sh: There is no file or directory.

Listening to port 4567
Connected!!!
2
42["telemetry",{"ptsx":[-32.16173,-43.49173,-61.09,-78.29172,-93.05002,-107.7717],"ptsy":[113.361,105.941,92.88499,78.73102,65.34102,50.57938],"psi_unity":4.120315,"psi":3.733667,"x":-40.62008,"y":108.7301,"steering_angle":0,"throttle":0,"speed":2.995219E-06}]
42["steer",{"steering_angle":0.0,"throttle":0.0}]

Cannot run that checkout command (or revert) - it says something about "not a tree"

I wanna to know the MPC calculation speed ,I write the MPC algorithm by myself is 0.15s ,which is too slow , can anyone tell me the author algorithm calculation speed ??

THANK YOU VERY MUCH

When trying to get the ipopt version provided by the repository I get the following error:

 svenkratz$ brew tap udacity/CarND-MPC-Project https://github.com/udacity/CarND-MPC-Project
==> Tapping udacity/carnd-mpc-project
Cloning into '/usr/local/Homebrew/Library/Taps/udacity/homebrew-carnd-mpc-project'...
remote: Counting objects: 1747, done.
remote: Compressing objects: 100% (1397/1397), done.
remote: Total 1747 (delta 294), reused 1738 (delta 294), pack-reused 0
Receiving objects: 100% (1747/1747), 2.46 MiB | 2.17 MiB/s, done.
Resolving deltas: 100% (294/294), done.
Error: Invalid formula: /usr/local/Homebrew/Library/Taps/udacity/homebrew-carnd-mpc-project/mumps.rb
Calling 'depends_on :mpi' is disabled!
Use 'depends_on "open-mpi"' instead.
/usr/local/Homebrew/Library/Taps/udacity/homebrew-carnd-mpc-project/mumps.rb:35:in `<class:Mumps>'
Please report this to the udacity/carnd-mpc-project tap!
Or, even better, submit a PR to fix it!
Error: Cannot tap udacity/carnd-mpc-project: invalid syntax in tap!

Hi,

In the std::vector<double> MPC::Solve(const VectorXd &state, const VectorXd &coeffs) method there are parts that (I think) can be done once, in the MPC::MPC constructor, e.g.:

...
 FG_eval fg_eval(coeffs);
...

Is there a reason for this?

Thus the installation script would not work anymore.
brew tap homebrew/science
Warning: homebrew/science was deprecated. This tap is now empty as all its formulae were migrated.

I tried to install Ipopt using install_ipopt.sh on Ubuntu 18.04 64bit.
But, the error occurs in make install process. The error message is as follows.

/usr/bin/install -c .libs/libcoinasl.so.1.3.6 /usr/local/lib/libcoinasl.so.1.3.6
/usr/bin/install: cannot create regular file '/usr/local/lib/libcoinasl.so.1.3.6': Permission denied
Makefile:740: recipe for target 'install-exec-local' failed

I checked install_ipopt.sh. And, I enumerate my opinion.

• Install path is defined by prefix=/usr/local
• But, this script call make install
• I think that this script should call sudo make install

Hi,
When I start the sim program and mpc program as the attachment. I find that I can control the car using keyboards, but is there any solution about making the car following the path using mpc autonomously? Thanks

the version of cppad brew installs seems to be different from the one this was tested with [(homebrew/science/cppad: stable 20150000 (bottled), HEAD)] in the sense that:

cppad.h is called cppad.hpp (just a warning in the compiler)

and

auto cost = solution.objvalue; in line 100 of MPC.cpp causes an error. My guess would be that it needs to be replaced by:
auto cost = solution.obj_value;

it would be cool if this can somehow be made compatible with both to avoid confusion at the review stage.

Because y-axis is up-down, then psi should be clockwise. Only this can explain why the initial orientation is 3.733667, which is in the 3rd quadrant.

There is a problem with json.hpp, and I did use the installation scripts from the repository:

sven@fxgpu:~/temp/CarND-MPC-Project/build$ make
Scanning dependencies of target mpc
[ 33%] Building CXX object CMakeFiles/mpc.dir/src/main.cpp.o
In file included from /home/sven/temp/CarND-MPC-Project/src/main.cpp:10:0:
/home/sven/temp/CarND-MPC-Project/src/json.hpp: In function ‘bool nlohmann::operator<(nlohmann::basic_json<ObjectType, ArrayType, StringType, BooleanType, NumberIntegerType, NumberUnsignedType, NumberFloatType, AllocatorType, JSONSerializer>::const_reference, nlohmann::basic_json<ObjectType, ArrayType, StringType, BooleanType, NumberIntegerType, NumberUnsignedType, NumberFloatType, AllocatorType, JSONSerializer>::const_reference)’:
/home/sven/temp/CarND-MPC-Project/src/json.hpp:6057:62: error: wrong number of template arguments (1, should be 2)
                     return *lhs.m_value.array < *rhs.m_value.array;

Hi @baumanab , @domluna ,

In your Readme give an instruction for install Ipopt:

• You just need to download the source from the Ipopt releases page or the Github releases page.

And I saw that the Ipopt releases page or the Github releases page have a little different.

• Ipopt releases page: build with script install_ipopt.sh success

• Github releases: build error because it lack ThirdParty and BuildTools folder

Maybe someone will have this issue and take a lot of time to correct it.
So if possible, please consider to update this information into your instruction.