Hi,
I have made a simple matlab function block in simulink that contains the following code:
function relPose = test_MS(range_in, angle_in, rangeMax)
ranges = double(range_in);
angles = double(angle_in);
if any(isnan(ranges)) || any(isinf(ranges)) || any(ranges < 0)
disp('invalid lidar data')
idx_invalid = (ranges < 0) | isinf(ranges) | isnan(ranges);
ranges(idx_invalid) = rangeMax + 1;
end
idx_remove = ranges>=rangeMax;
ranges_new = ranges(~idx_remove);
angles_new = angles(~idx_remove);
persistent scan_prev
scan_in = lidarScan(ranges_new,angles_new);
if isempty(scan_prev)
scan_prev = scan_in;
end
relPose = matchScans(scan_prev, scan_in,'CellSize',2);
relPose(3) = rad2deg(relPose(3));
fprintf('\n Relative Pose is %f %f %f\n',relPose(1),relPose(2),relPose(3))
scan_prev = scan_in;
end
There is nothing else in the Simulink model, other than a subscriber block to the lidar scan.
But when I try to generate the code for a ROS node (build and load directly to a turtlbot in my case), I get the following error:
[ 0
Scanning dependencies of target test_sim_ms_node
[ 14
[ 14
[ 21
[ 28
/home/th06001/catkin_PF/src/test_sim_ms/csleepfun_windows.c:5:21: fatal error: windows.h: No such file or directory
compilation terminated.
test_sim_ms/CMakeFiles/test_sim_ms_node.dir/build.make:89: recipe for target 'test_sim_ms/CMakeFiles/test_sim_ms_node.dir/csleepfun_windows.c.o' failed
make[3]: *** [test_sim_ms/CMakeFiles/test_sim_ms_node.dir/csleepfun_windows.c.o] Error 1
make[3]: *** Waiting for unfinished jobs...
/home/th06001/catkin_PF/src/test_sim_ms/ctimefun_windows.c:5:21: fatal error: windows.h: No such file or directory
compilation terminated.
test_sim_ms/CMakeFiles/test_sim_ms_node.dir/build.make:113: recipe for target 'test_sim_ms/CMakeFiles/test_sim_ms_node.dir/ctimefun_windows.c.o' failed
make[3]: *** [test_sim_ms/CMakeFiles/test_sim_ms_node.dir/ctimefun_windows.c.o] Error 1
CMakeFiles/Makefile2:1951: recipe for target 'test_sim_ms/CMakeFiles/test_sim_ms_node.dir/all' failed
make[2]: *** [test_sim_ms/CMakeFiles/test_sim_ms_node.dir/all] Error 2
CMakeFiles/Makefile2:1963: recipe for target 'test_sim_ms/CMakeFiles/test_sim_ms_node.dir/rule' failed
make[1]: *** [test_sim_ms/CMakeFiles/test_sim_ms_node.dir/rule] Error 2
Makefile:810: recipe for target 'test_sim_ms_node' failed
make: *** [test_sim_ms_node] Error 2
Base path: /home/th06001/catkin_PF
Source space: /home/th06001/catkin_PF/src
Build space: /home/th06001/catkin_PF/build
Devel space: /home/th06001/catkin_PF/devel
Install space: /home/th06001/catkin_PF/install
####
#### Running command: "cmake /home/th06001/catkin_PF/src -DCATKIN_DEVEL_PREFIX=/home/th06001/catkin_PF/devel -DCMAKE_INSTALL_PREFIX=/home/th06001/catkin_PF/install -G Unix Makefiles" in "/home/th06001/catkin_PF/build"
####
####
#### Running command: "make test_sim_ms_node -j4 -l4" in "/home/th06001/catkin_PF/build"
####
Invoking "make test_sim_ms_node -j4 -l4" failed
It seems that the compiler cannot find csleepfun_windows.c.o or something.
Is there something I'm doing wrong?
I don't have this problem when I use matchScansGrid() function though. I can run the model on simulink too without any problem (by remotely connecting to the turtlebot ROS core).
Thanks in advance.
Sooraj
