Troubleshooting

Hint

Checkout the Franka Community and the franka_matlab category for relevant posts or for creating new ones!

Hint

Before proceeding with the Franka MATLAB Toolbox, it would be a good practice to execute a couple of the libfranka examples, under the build/examples folder, in order to ensure that the libfranka installation has been succesful and that the system can operate under the Real-Time control constraints.

control_modes.h: No such file or directory error.

../_images/simulink_model_apply_control_only_build_error.png

The build error message in simulink when only the “apply control is present”.

This is a known current limitation of the system, as the build process will fail if only the “apply control” block is present in a simulink model.

../_images/simulink_model_apply_control_only.png

Example of a Simulink model with only “apply control”. The build will fail.

For fixing the issue just include any other block from the Franka Simulink Library, e.g with the terminal if it will be left unused.

../_images/simulink_model_apply_control_only_fix.png

Fixing the “control_modes.h: No such file or directory error.” by including any other block from the Franka Simulink Library.

libfranka reference

Hint

Same error messages and advised troubleshooting applies as libfranka.

Issues with the graphics driver in Linux

NVIDIA’s graphics driver’s are not officially supported in Linux with Real-Time Kernel. This could cause issues in graphics renderings in Matlab and Simulink, e.g with figures and scopes respectively. We would then recommend starting matlab with the -softwareopengl for avoiding these issues:

$ matlab -softwareopengl

Issues with libstdc++.so and other system dynamic libraries

Make sure that you have installed the matlab-support package for your system, in order for Matlab to reference the system dynamic libraries instead of the precompiled ones that it ships with:

sudo apt install matlab-support