Troubleshooting

Hint

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

libfranka reference

Hint

Same error messages and advised troubleshooting 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

Mexing Simulink & Matlab library

Simulink & Matlab libraries are delivered with compiled binaries. In case issues arise re-mexing is advised.

You can mex the libraries by running:

>> mex_simulink_library();
>> mex_matlab_library();

Issues with libstdc++.so

It could be that Matlab throws an error related to libstdc++.so.6 after calling one of the matlab scripts of the franka-matlab library in a Linux environment. If that’s the case our current working solution involves renaming the precompiled libstdc++ library in the Matlab installation, which forces Matlab to look in the system for the proper dynamic standard library.

This can be performed with e.g:

$ mv matlabroot/sys/os/glnx64/libstdc++.so.6 matlabroot/sys/os/glnx64/libstdc++.so.6.off

Restarting Matlab is then recommended.

Franka Simulink library number of block instances

Important

Multiple instances for the Apply Control block are NOT allowed** in the same system (multiple instances can be inserted in corresponding enabled subsystems). One-and-only-one Apply Control block is necessary for all the other blocks to work. Multiple instances of the rest of the Franka Simulink library blocks ARE allowed.