在ROS中运行Simulink FMU时出错：“创建dllfmu失败”

Question

我试图在ROS中运行一个Simulink FMU，以便在Gazebo进行联合仿真。我已经能够在Python中模拟和验证FMU，但是，当我尝试在ROS中加载它时，我得到了一个错误。

我正在尝试这个问题，问题是ROS无法找到Linux的二进制文件(二进制文件/Linux 64中的fmu_traject.so文件)，因为FMU是在Windows 10中导出的，我试图在Ubuntu18.04中加载它。解决方案只是从安装在Ubuntu machine.next命令中的MATLAB-Simulink从这指南导出FMU。在第一航站楼：

source /opt/ros/dashing/setup.bash
cd ~/FMI/Trajectory # The path where the FMU is
ros2 run fmi_adapter fmi_adapter_node __params:=my_params.yaml

以防万一，文件"my_parmas.yaml"只包含到FMU的路径：

fmi_adapter_node:
  ros__parameters:
    fmu_path: '/home/ubuntu1804/FMI/Trajectory/fmu_traject.fmu'

在第二航站楼：

source /opt/ros/dashing/setup.bash
ros2 lifecycle set /fmi_adapter_node configure
ros2 lifecycle set /fmi_adapter_node activate

在运行ros2 lifecycle set /fmi_adapter_node configure之后，将在终端2中打印以下内容：

Transitioning failed

下一个错误出现在终端1中：

[ERROR][FMI2XML] Start attribute is required for this causality, variability and initial combination
[FATAL][FMILIB] Could not change to the DLL directory /tmp/fmi_adapter_DrX8pj/binaries/linux64/
[FATAL][FMILIB] The FMU contains no binary for this platform.
[ERROR] []: Caught exception in callback for transition 10
[ERROR] []: Original error: Creation of dllfmu failed!
[WARN] []: Error occurred while doing error handling.

此外，我还测试了如何创建一个启动文件并以以下方式运行它。

source /opt/ros/dashing/setup.bash
cd ~/FMI/Trajectory # The path where the FMU is
ros2 launch SimulinkFMU_launcher.launch.py

我在启动文件"SimulinkFMU_launcher.launch.py"下面附加，它完全基于上述指南。

import ament_index_python.packages

import launch
import launch.actions
import launch.launch_description_sources
import launch.substitutions


def generate_launch_description():
    # fmu_path = (ament_index_python.packages.get_package_share_directory('fmi_adapter_examples') +
    #             '/share/DampedPendulum.fmu')
    fmu_path = 'FMI/Trajectory/fmu_traject.fmu'

    fmi_adapter_description = launch.actions.IncludeLaunchDescription(
        launch.launch_description_sources.PythonLaunchDescriptionSource(
            ament_index_python.packages.get_package_share_directory(
                'fmi_adapter') + '/launch/fmi_adapter_node.launch.py'),
        launch_arguments={'fmu_path': fmu_path}.items())

    description = launch.LaunchDescription()
    description.add_action(fmi_adapter_description)

    return description

这是我在启动文件中获得的日志：

[INFO] [launch]: All log files can be found below /home/ubuntu1804/.ros/log/2022-04-27-09-24-45-820715-ubuntu-13445
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [fmi_adapter_node-1]: process started with pid [13462]
[fmi_adapter_node-1] [ERROR] []: Caught exception in callback for transition 10
[fmi_adapter_node-1] [ERROR] []: Original error: Given FMU file 'FMI/Trajectory/fmu_traject.fmu' not found or cannot be read!
[fmi_adapter_node-1] [WARN] []: Error occurred while doing error handling.
[ERROR] [launch_ros.actions.lifecycle_node]: Failed to make transition 'TRANSITION_CONFIGURE' for LifecycleNode '/fmi_adapter_node'

Answer 1

问题是ROS无法找到Linux的二进制文件(二进制文件/Linux 64中的fmu_traject.so文件)，因为FMU是在Windows 10中导出的，我试图在Ubuntu18.04中加载它。解决方案只是从安装在Ubuntu机器上的导出FMU。