*SOLVED* Recompiling genhexkins
11 Oct 2010 09:31 - 10 Mar 2011 18:00 #4617
by PKM
*SOLVED* Recompiling genhexkins was created by PKM
Hi everyone.
I'm new to EMC2 and would like to use it for hexapod control.
I tried to recompile genhexkins.c with changed hexapod dimensions. After changing values in genhexkins.h I used
sudo comp --install genhexkins.c
and had the following warnings
After that EMC-HAL-SIM-HEXAPOD not starting, error message under spoiler
Thus, genhexkins is not compiled properly. What should I do? Please, help
PS: EMC2_2.2.4 on Ubuntu 10.04
Solved by installing all required packages.
I'm new to EMC2 and would like to use it for hexapod control.
I tried to recompile genhexkins.c with changed hexapod dimensions. After changing values in genhexkins.h I used
sudo comp --install genhexkins.c
and had the following warnings
WARNING: "pmRpyMatConvert" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "hal_init" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "pmCartCartCross" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "hal_exit" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "pmCartUnit" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "pmMatCartMult" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "pmCartCartAdd" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "hal_ready" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "pmCartMag" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!
WARNING: "pmCartCartSub" [/tmp/tmpvWVdx8/genhexkins.ko] undefined!After that EMC-HAL-SIM-HEXAPOD not starting, error message under spoiler
Warning: Spoiler!
Print file information:
RUN_IN_PLACE=no
EMC2_DIR=
EMC2_BIN_DIR=/usr/bin
EMC2_TCL_DIR=/usr/share/emc/tcl
EMC2_SCRIPT_DIR=
EMC2_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/emc2
EMC2_CONFIG_DIR=
EMC2_LANG_DIR=/usr/share/emc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
EMC2_EMCSH=/usr/bin/wish8.5
EMC2 - 2.4.4
Machine configuration directory is '/home/pkm/emc2/configs/hexapod-sim'
Machine configuration file is 'minitetra.ini'
INIFILE=/home/pkm/emc2/configs/hexapod-sim/minitetra.ini
PARAMETER_FILE=hexapod.var
EMCMOT=motmod
EMCIO=io
TASK=milltask
HALUI=
DISPLAY=tkemc
NML_FILE=
Starting EMC2...
Starting EMC2 server program: emcsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting EMC2 IO program: io
Shutting down and cleaning up EMC2...
Killing task emcsvr, PID=3323
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done
Debug file information:
insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/emc2/genhexkins.ko': -1 Unknown symbol in module
core_sim_6.hal:4: exit value: 1
core_sim_6.hal:4: insmod failed, returned -1
See the output of 'dmesg' for more information.
3323
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
Kernel message information:
[ 2657.357007] I-pipe: Domain RTAI registered.
[ 2657.357012] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 2657.357015] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[ 2657.357048] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 2657.357051] PIPELINE layers:
[ 2657.357053] fd256e20 9ac15d93 RTAI 200
[ 2657.357056] c085cb20 0 Linux 100
[ 2657.374615] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 2657.374814] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[ 2657.374820] RTAI[sched]: hard timer type/freq = APIC/16679797(Hz); default timing: periodic; linear timed lists.
[ 2657.374823] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2135181000 hz.
[ 2657.374826] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[ 2657.374891] RTAI[usi]: enabled.
[ 2657.411980] RTAI[math]: loaded.
[ 2657.449293] genhexkins: Unknown symbol pmCartCartSub
[ 2657.449380] genhexkins: Unknown symbol pmCartMag
[ 2657.449532] genhexkins: Unknown symbol pmCartCartAdd
[ 2657.449616] genhexkins: Unknown symbol pmMatCartMult
[ 2657.449700] genhexkins: Unknown symbol pmCartUnit
[ 2657.449849] genhexkins: Unknown symbol pmCartCartCross
[ 2657.450023] genhexkins: Unknown symbol pmRpyMatConvert
[ 2657.788064] RTAI[math]: unloaded.
[ 2657.815202] SCHED releases registered named ALIEN RTGLBH
[ 2657.844350] RTAI[malloc]: unloaded.
[ 2657.944274] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 2657.947174] I-pipe: Domain RTAI unregistered.
[ 2657.947213] RTAI[hal]: unmounted.
RUN_IN_PLACE=no
EMC2_DIR=
EMC2_BIN_DIR=/usr/bin
EMC2_TCL_DIR=/usr/share/emc/tcl
EMC2_SCRIPT_DIR=
EMC2_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/emc2
EMC2_CONFIG_DIR=
EMC2_LANG_DIR=/usr/share/emc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
EMC2_EMCSH=/usr/bin/wish8.5
EMC2 - 2.4.4
Machine configuration directory is '/home/pkm/emc2/configs/hexapod-sim'
Machine configuration file is 'minitetra.ini'
INIFILE=/home/pkm/emc2/configs/hexapod-sim/minitetra.ini
PARAMETER_FILE=hexapod.var
EMCMOT=motmod
EMCIO=io
TASK=milltask
HALUI=
DISPLAY=tkemc
NML_FILE=
Starting EMC2...
Starting EMC2 server program: emcsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting EMC2 IO program: io
Shutting down and cleaning up EMC2...
Killing task emcsvr, PID=3323
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done
Debug file information:
insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/emc2/genhexkins.ko': -1 Unknown symbol in module
core_sim_6.hal:4: exit value: 1
core_sim_6.hal:4: insmod failed, returned -1
See the output of 'dmesg' for more information.
3323
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
Kernel message information:
[ 2657.357007] I-pipe: Domain RTAI registered.
[ 2657.357012] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 2657.357015] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[ 2657.357048] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 2657.357051] PIPELINE layers:
[ 2657.357053] fd256e20 9ac15d93 RTAI 200
[ 2657.357056] c085cb20 0 Linux 100
[ 2657.374615] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 2657.374814] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[ 2657.374820] RTAI[sched]: hard timer type/freq = APIC/16679797(Hz); default timing: periodic; linear timed lists.
[ 2657.374823] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2135181000 hz.
[ 2657.374826] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[ 2657.374891] RTAI[usi]: enabled.
[ 2657.411980] RTAI[math]: loaded.
[ 2657.449293] genhexkins: Unknown symbol pmCartCartSub
[ 2657.449380] genhexkins: Unknown symbol pmCartMag
[ 2657.449532] genhexkins: Unknown symbol pmCartCartAdd
[ 2657.449616] genhexkins: Unknown symbol pmMatCartMult
[ 2657.449700] genhexkins: Unknown symbol pmCartUnit
[ 2657.449849] genhexkins: Unknown symbol pmCartCartCross
[ 2657.450023] genhexkins: Unknown symbol pmRpyMatConvert
[ 2657.788064] RTAI[math]: unloaded.
[ 2657.815202] SCHED releases registered named ALIEN RTGLBH
[ 2657.844350] RTAI[malloc]: unloaded.
[ 2657.944274] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 2657.947174] I-pipe: Domain RTAI unregistered.
[ 2657.947213] RTAI[hal]: unmounted.
Thus, genhexkins is not compiled properly. What should I do? Please, help
PS: EMC2_2.2.4 on Ubuntu 10.04
Solved by installing all required packages.
Last edit: 10 Mar 2011 18:00 by PKM.
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10 Jan 2012 14:07 - 10 Jan 2012 14:09 #16521
by honey
Which packages you have installed? I have a similar problem....I tried to install a new kinematics "armkins.c" with sudo comp --install and I have this error:
> MODPOST 1 modules
> WARNING: "hal_init" [/tmp/tmpujuZ4U/armkins.ko] undefined!
> WARNING: "hal_exit" [/tmp/tmpujuZ4U/armkins.ko] undefined!
> WARNING: "hal_ready" [/tmp/tmpujuZ4U/armkins.ko] undefined!
> WARNING:"pmPoseHomConvert" [/tmp/tmpujuZ4U/armkins.ko] undefined!
>WARNING:"pmHomPoseConvert" [/tmp/tmpujuZ4U/armkins.ko] undefined!
> CC /tmp/tmpujuZ4U/armkins.mod.o
> LD [M] /tmp/tmpujuZ4U/armkins.ko
> make[1]: Uscita dalla directory '/usr/src/linux-headers-2.6.32-122-rtai'
When I run emc2 I have this debug information:
>arm_inversa.hal:4: Warning: File contains DOS-style line endings.
>insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/emc2/armkins.ko': -1 Unknown symbol in module
>arm_inversa.hal:5: exit value: 1
>arm_inversa.hal:5: insmod failed, returned -1
You can help me?
Replied by honey on topic Re:*SOLVED* Recompiling genhexkins
PKM wrote:
Solved by installing all required packages.
Which packages you have installed? I have a similar problem....I tried to install a new kinematics "armkins.c" with sudo comp --install and I have this error:
> MODPOST 1 modules
> WARNING: "hal_init" [/tmp/tmpujuZ4U/armkins.ko] undefined!
> WARNING: "hal_exit" [/tmp/tmpujuZ4U/armkins.ko] undefined!
> WARNING: "hal_ready" [/tmp/tmpujuZ4U/armkins.ko] undefined!
> WARNING:"pmPoseHomConvert" [/tmp/tmpujuZ4U/armkins.ko] undefined!
>WARNING:"pmHomPoseConvert" [/tmp/tmpujuZ4U/armkins.ko] undefined!
> CC /tmp/tmpujuZ4U/armkins.mod.o
> LD [M] /tmp/tmpujuZ4U/armkins.ko
> make[1]: Uscita dalla directory '/usr/src/linux-headers-2.6.32-122-rtai'
When I run emc2 I have this debug information:
>arm_inversa.hal:4: Warning: File contains DOS-style line endings.
>insmod: error inserting '/usr/realtime-2.6.32-122-rtai/modules/emc2/armkins.ko': -1 Unknown symbol in module
>arm_inversa.hal:5: exit value: 1
>arm_inversa.hal:5: insmod failed, returned -1
You can help me?
Last edit: 10 Jan 2012 14:09 by honey.
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10 Jan 2012 14:21 #16523
by cncbasher
Replied by cncbasher on topic Re:*SOLVED* Recompiling genhexkins
one problem you have is arm_inversa.hal has been saved using Dos style liine endings
using for example gedit
re-save using Unix/Linux line endings will solve one problem as shown
run sudo apt-get build-dep emc2
should help finding any missing packages
you do not say which version of emc you are compiling for , or if you are using the development version from GIT
this would help
using for example gedit
re-save using Unix/Linux line endings will solve one problem as shown
run sudo apt-get build-dep emc2
should help finding any missing packages
you do not say which version of emc you are compiling for , or if you are using the development version from GIT
this would help
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10 Jan 2012 15:12 #16526
by honey
Replied by honey on topic Re:*SOLVED* Recompiling genhexkins
cncbasher wrote:
I have installed the packages with apt-get build-dep but when I run emc2 I have also:
>arm_inversa.hal:4: Warning: File contains DOS-style line endings.
>insmod: error inserting '/home/cnc/emc2-dev/rtlib/armkins.ko': -1 Unknown symbol in module
>arm_inversa.hal:5: exit value: 1
>arm_inversa.hal:5: insmod failed, returned -1
I'm using ubuntu 10.4 emc2 2.4.6, developement version....
one problem you have is arm_inversa.hal has been saved using Dos style liine endings
using for example gedit
re-save using Unix/Linux line endings will solve one problem as shown
run sudo apt-get build-dep emc2
should help finding any missing packages
you do not say which version of emc you are compiling for , or if you are using the development version from GIT
this would help
I have installed the packages with apt-get build-dep but when I run emc2 I have also:
>arm_inversa.hal:4: Warning: File contains DOS-style line endings.
>insmod: error inserting '/home/cnc/emc2-dev/rtlib/armkins.ko': -1 Unknown symbol in module
>arm_inversa.hal:5: exit value: 1
>arm_inversa.hal:5: insmod failed, returned -1
I'm using ubuntu 10.4 emc2 2.4.6, developement version....
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10 Jan 2012 15:26 #16529
by andypugh
Replied by andypugh on topic Re:*SOLVED* Recompiling genhexkins
honey wrote:
This might well mean that the line in the HAL file which loads armkins has a parameter after it which does not match the code.
(for example, a joint length called one thing, when the code uses a different name).
I think it might also be that the kinematics file name and what the module calls itself internally might not match.
For example, in git.linuxcnc.org/gitweb?p=emc2.git;a=blo...9f90d9bf3b40ce548cc7
there is the line 347 comp_id = hal_init("pumakins");
Your kinematics file name needs to match the comp_id.
insmod: error inserting '/home/cnc/emc2-dev/rtlib/armkins.ko': -1 Unknown symbol in module
This might well mean that the line in the HAL file which loads armkins has a parameter after it which does not match the code.
(for example, a joint length called one thing, when the code uses a different name).
I think it might also be that the kinematics file name and what the module calls itself internally might not match.
For example, in git.linuxcnc.org/gitweb?p=emc2.git;a=blo...9f90d9bf3b40ce548cc7
there is the line 347 comp_id = hal_init("pumakins");
Your kinematics file name needs to match the comp_id.
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10 Jan 2012 15:50 #16530
by honey
Replied by honey on topic Re:*SOLVED* Recompiling genhexkins
andypugh wrote:
[For example, in git.linuxcnc.org/gitweb?p=emc2.git;a=blo...9f90d9bf3b40ce548cc7
there is the line 347 comp_id = hal_init("pumakins");
Your kinematics file name needs to match the comp_id.[/quote]
I check that line and I have changed already the line in comp_id=hal_init("armkins")
I think that the problem could be how I wrote the kinematics of the robot. I am not so expert. Where I can post my file and if someone wants, he can help me?
[For example, in git.linuxcnc.org/gitweb?p=emc2.git;a=blo...9f90d9bf3b40ce548cc7
there is the line 347 comp_id = hal_init("pumakins");
Your kinematics file name needs to match the comp_id.[/quote]
I check that line and I have changed already the line in comp_id=hal_init("armkins")
I think that the problem could be how I wrote the kinematics of the robot. I am not so expert. Where I can post my file and if someone wants, he can help me?
Please Log in or Create an account to join the conversation.
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