Octave 3.6.2 is available as a standard package for my Ubuntu 12.10 install, but didn't work initially with the AMRx exercise 1 test scripts, so I had to build my own remApi.oct.
Building remApi.oct
Get the mkoct binary for octave:
sudo apt-get install octave-pkg-dev
There is a file in the vrep tar ball to run within octave:
V-REP_PRO_EDU_V3_1_0_64_Linux/ programming/remoteApiBindings/ octave/buildLin.m
It needs some setup first, which is documented within it:
cd V-REP_PRO_EDU_V3_1_0_64_Linux/ programming/remoteApiBindings/ octave/
cp ../../remoteApi/* .
cp ../../include/* .
octave
octave:4> buildLin
extApiPlatform.c: In function ‘extApi_readFile’:
extApiPlatform.c:222:8: warning: ignoring return value of ‘fread’, declared with attribute warn_unused_result [-Wunused-result]
remApi.cc: In function ‘octave_value_list FsimxAddStatusbarMessage(const octave_value_list&, int)’:
remApi.cc:161:35: warning: ‘octave_value::octave_value( const charNDArray&, bool, char)’ is deprecated (declared at /usr/include/octave-3.6.2/ octave/../octave/ov.h:237) [-Wdeprecated-declarations]
remApi.cc: In function ‘octave_value_list FsimxCopyPasteObjects(const octave_value_list&, int)’:
...
remApi.cc:2834:31: warning: ‘void Array<T>::resize(octave_idx_ type) [with T = float; octave_idx_type = int]’ is deprecated (declared at /usr/include/octave-3.6.2/ octave/../octave/Array.h:459) [-Wdeprecated-declarations]
remApi.cc: In function ‘octave_value_list FsimxUnpackInts(const octave_value_list&, int)’:
remApi.cc:2856:29: warning: ‘void Array<T>::resize(octave_idx_ type) [with T = octave_int<int>; octave_idx_type = int]’ is deprecated (declared at /usr/include/octave-3.6.2/ octave/../octave/Array.h:459) [-Wdeprecated-declarations]
octave:4> exit
cp remApi.oct ~/own/edx_amrx/exercise1/code/ common/libs/octave/ linuxLibrary64Bit
cd ~/own/edx_amrx/exercise1/code/ common/vrep
octave
octave:1> test
And it works! The connection from octave to the running V-REP is established, and then the script commands the simulation to start and then stops soon after.
Annoyances
The edX platform has some annoying quirks I've documented elsewhere. But other than that it is pretty good.
V-REP is impressive also (coming from using Gazebo a great deal over the past six months), but has an annoying feature where a mouse right click can both rotate the view and open a context menu, the very first option is to close the 3D view window. So it is very possible especially on a laptop trackpad to accidentally try to rotate but end up closing the window of the view that was to be rotated.
Debugging steps (not part of the solution)
The first thing I tried was to launch vrep.sh from the vrep tar ball, load the exercise 1 ttt scene, and then enter the exercise1/code/common/vrep/ directory, launch octave, and try to run test.m:
octave:2> conn = simulation_setup();
/home/lwalter/own/edx_amrx/ exercise1/code/common/vrep/../ libs/octave/linuxLibrary64Bit/ remApi.oct
octave:3> robot_nb=0
robot_nb = 0
octave:4> conn = simulation_openConnection( conn, robot_nb )
error: simulation_openConnection: /home/lwalter/own/edx_amrx/ exercise1/code/common/vrep/../ libs/octave/linuxLibrary64Bit/ remApi.oct: failed to load: liboctinterp.so: cannot open shared object file: No such file or directory
error: called from:
error: /home/lwalter/own/edx_amrx/ exercise1/code/common/vrep/ simulation_openConnection.m at line 30, column 28
I have liboctinerp.so.1, but no liboctinterp.so, so in a user directory on my LD_LIBRARY_PATH I added links to it and other libraries that were subsequently not found:
ln -s /usr/lib/x86_64-linux-gnu/ liboctinterp.so.1 ~/other/install/lib/ liboctinterp.so
ln -s /usr/lib/x86_64-linux-gnu/ liboctave.so.1 ~/other/install/lib/liboctave. so
ln -s /usr/lib/x86_64-linux-gnu/ libcruft.so.1 ~/other/install/lib/libcruft. so
Update - on a 13.04 Ubuntu I built the remApi.oct first, these steps are unnecessary.
Update - on a 13.04 Ubuntu I built the remApi.oct first, these steps are unnecessary.
I tried test.m again and ran into this problem:
octave:3> connection = simulation_openConnection( connection, robotNb);
error: simulation_openConnection: /home/lwalter/own/edx_amrx/ exercise1/code/common/vrep/../ libs/octave/linuxLibrary64Bit/ remApi.oct: failed to load: /home/lwalter/own/edx_amrx/ exercise1/code/common/vrep/../ libs/octave/linuxLibrary64Bit/ remApi.oct: undefined symbol: _ZN5ArrayI12octave_valueED0Ev
error: called from:
error: /home/lwalter/own/edx_amrx/ exercise1/code/common/vrep/ simulation_openConnection.m at line 30, column 28
I saw some references to being able to rebuild remApi.oct, so set out to do that next.
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