{"id":302,"date":"2024-12-09T20:33:23","date_gmt":"2024-12-09T12:33:23","guid":{"rendered":"http:\/\/106.12.148.75\/?p=302"},"modified":"2024-12-09T20:47:04","modified_gmt":"2024-12-09T12:47:04","slug":"%e3%80%90acados%e3%80%91%e6%8a%a5%e9%94%99segmentation-fault%ef%bc%8cexception-rendering-of-main-in-c-failed","status":"publish","type":"post","link":"https:\/\/jamilblog.top\/?p=302","title":{"rendered":"\u3010Acados\u3011\u62a5\u9519Segmentation fault\uff0cException: Rendering of main.in.c failed!"},"content":{"rendered":"\n

\u95ee\u9898\u63cf\u8ff0<\/h1>\n\n\n\n

\u5728\u5b89\u88c5acados\u540e\u8fd0\u884c\u6d4b\u8bd5\u8282\u70b9\u65f6\u51fa\u73b0\u9519\u8bef\uff1a<\/p>\n\n\n\n

<\/circle><\/circle><\/circle><\/g><\/svg><\/span><\/path><\/path><\/svg><\/span>
megvii<\/span> <\/span>@<\/span> <\/span>XX<\/span> <\/span>~\/program\/acados\/examples\/acados_python\/getting_started<\/span> <\/span>on<\/span> <\/span>git:master<\/span> <\/span>o<\/span> [11:49:11] C:1<\/span><\/span>\n$<\/span> <\/span>python3.8<\/span> <\/span>minimal_example_ocp.py<\/span><\/span>\n<\/span>\nWARNING:<\/span> <\/span>Gauss-Newton<\/span> <\/span>Hessian<\/span> <\/span>approximation<\/span> <\/span>with<\/span> <\/span>EXTERNAL<\/span> <\/span>cost<\/span> <\/span>type<\/span> <\/span>not<\/span> <\/span>possible!<\/span><\/span>\ngot<\/span> <\/span>cost_type_0:<\/span> <\/span>EXTERNAL,<\/span> <\/span>hessian_approx:<\/span> <\/span>'<\/span>GAUSS_NEWTON.<\/span>'<\/span><\/span>\nGAUSS_NEWTON<\/span> <\/span>hessian<\/span> <\/span>is<\/span> <\/span>only<\/span> <\/span>supported<\/span> <\/span>for<\/span> <\/span>cost_types<\/span> [NON]LINEAR_LS.<\/span><\/span>\nIf<\/span> <\/span>you<\/span> <\/span>continue,<\/span> <\/span>acados<\/span> <\/span>will<\/span> <\/span>proceed<\/span> <\/span>computing<\/span> <\/span>the<\/span> <\/span>exact<\/span> <\/span>hessian<\/span> <\/span>for<\/span> <\/span>the<\/span> <\/span>cost<\/span> <\/span>term.<\/span><\/span>\nNote:<\/span> <\/span>There<\/span> <\/span>is<\/span> <\/span>also<\/span> <\/span>the<\/span> <\/span>option<\/span> <\/span>to<\/span> <\/span>use<\/span> <\/span>the<\/span> <\/span>external<\/span> <\/span>cost<\/span> <\/span>module<\/span> <\/span>with<\/span> <\/span>a<\/span> <\/span>numerical<\/span> <\/span>hessian<\/span> <\/span>approximation<\/span> (see <\/span>`<\/span>ext_cost_num_hess<\/span>`<\/span>).<\/span><\/span>\nOR<\/span> <\/span>the<\/span> <\/span>option<\/span> <\/span>to<\/span> <\/span>provide<\/span> <\/span>a<\/span> <\/span>symbolic<\/span> <\/span>custom<\/span> <\/span>hessian<\/span> <\/span>approximation<\/span> (see <\/span>`<\/span>cost_expr_ext_cost_custom_hess<\/span>`<\/span>).<\/span><\/span>\n<\/span>\n<\/span>\nWARNING:<\/span> <\/span>Gauss-Newton<\/span> <\/span>Hessian<\/span> <\/span>approximation<\/span> <\/span>with<\/span> <\/span>EXTERNAL<\/span> <\/span>cost<\/span> <\/span>type<\/span> <\/span>not<\/span> <\/span>possible!<\/span><\/span>\ngot<\/span> <\/span>cost_type:<\/span> <\/span>EXTERNAL,<\/span> <\/span>hessian_approx:<\/span> <\/span>'<\/span>GAUSS_NEWTON.<\/span>'<\/span><\/span>\nGAUSS_NEWTON<\/span> <\/span>hessian<\/span> <\/span>is<\/span> <\/span>only<\/span> <\/span>supported<\/span> <\/span>for<\/span> <\/span>cost_types<\/span> [NON]LINEAR_LS.<\/span><\/span>\nIf<\/span> <\/span>you<\/span> <\/span>continue,<\/span> <\/span>acados<\/span> <\/span>will<\/span> <\/span>proceed<\/span> <\/span>computing<\/span> <\/span>the<\/span> <\/span>exact<\/span> <\/span>hessian<\/span> <\/span>for<\/span> <\/span>the<\/span> <\/span>cost<\/span> <\/span>term.<\/span><\/span>\nNote:<\/span> <\/span>There<\/span> <\/span>is<\/span> <\/span>also<\/span> <\/span>the<\/span> <\/span>option<\/span> <\/span>to<\/span> <\/span>use<\/span> <\/span>the<\/span> <\/span>external<\/span> <\/span>cost<\/span> <\/span>module<\/span> <\/span>with<\/span> <\/span>a<\/span> <\/span>numerical<\/span> <\/span>hessian<\/span> <\/span>approximation<\/span> (see <\/span>`<\/span>ext_cost_num_hess<\/span>`<\/span>).<\/span><\/span>\nOR<\/span> <\/span>the<\/span> <\/span>option<\/span> <\/span>to<\/span> <\/span>provide<\/span> <\/span>a<\/span> <\/span>symbolic<\/span> <\/span>custom<\/span> <\/span>hessian<\/span> <\/span>approximation<\/span> (see <\/span>`<\/span>cost_expr_ext_cost_custom_hess<\/span>`<\/span>).<\/span><\/span>\n<\/span>\n<\/span>\nWARNING:<\/span> <\/span>Gauss-Newton<\/span> <\/span>Hessian<\/span> <\/span>approximation<\/span> <\/span>with<\/span> <\/span>EXTERNAL<\/span> <\/span>cost<\/span> <\/span>type<\/span> <\/span>not<\/span> <\/span>possible!<\/span><\/span>\ngot<\/span> <\/span>cost_type_e:<\/span> <\/span>EXTERNAL,<\/span> <\/span>hessian_approx:<\/span> <\/span>'<\/span>GAUSS_NEWTON.<\/span>'<\/span><\/span>\nGAUSS_NEWTON<\/span> <\/span>hessian<\/span> <\/span>is<\/span> <\/span>only<\/span> <\/span>supported<\/span> <\/span>for<\/span> <\/span>cost_types<\/span> [NON]LINEAR_LS.<\/span><\/span>\nIf<\/span> <\/span>you<\/span> <\/span>continue,<\/span> <\/span>acados<\/span> <\/span>will<\/span> <\/span>proceed<\/span> <\/span>computing<\/span> <\/span>the<\/span> <\/span>exact<\/span> <\/span>hessian<\/span> <\/span>for<\/span> <\/span>the<\/span> <\/span>cost<\/span> <\/span>term.<\/span><\/span>\nNote:<\/span> <\/span>There<\/span> <\/span>is<\/span> <\/span>also<\/span> <\/span>the<\/span> <\/span>option<\/span> <\/span>to<\/span> <\/span>use<\/span> <\/span>the<\/span> <\/span>external<\/span> <\/span>cost<\/span> <\/span>module<\/span> <\/span>with<\/span> <\/span>a<\/span> <\/span>numerical<\/span> <\/span>hessian<\/span> <\/span>approximation<\/span> (see <\/span>`<\/span>ext_cost_num_hess<\/span>`<\/span>).<\/span><\/span>\nOR<\/span> <\/span>the<\/span> <\/span>option<\/span> <\/span>to<\/span> <\/span>provide<\/span> <\/span>a<\/span> <\/span>symbolic<\/span> <\/span>custom<\/span> <\/span>hessian<\/span> <\/span>approximation<\/span> (see <\/span>`<\/span>cost_expr_ext_cost_custom_hess<\/span>`<\/span>).<\/span><\/span>\n<\/span>\nSegmentation<\/span> <\/span>fault<\/span><\/span>\nTraceback<\/span> (most <\/span>recent<\/span> <\/span>call<\/span> <\/span>last<\/span>):<\/span><\/span>\n  <\/span>File<\/span> <\/span>"<\/span>minimal_example_ocp.py<\/span>"<\/span>,<\/span> <\/span>line<\/span> <\/span>107<\/span>,<\/span> <\/span>in<\/span> <\/span><<\/span>modul<\/span>e<\/span>><\/span><\/span>\n    <\/span>main<\/span>()<\/span><\/span>\n  File "minimal_example_ocp.py", line 86, in main<\/span><\/span>\n    ocp_solver = AcadosOcpSolver<\/span>(<\/span>ocp,<\/span> <\/span>json_file<\/span> <\/span>=<\/span> <\/span>'<\/span>acados_ocp.json<\/span>'<\/span>)<\/span><\/span>\n  <\/span>File<\/span> <\/span>"<\/span>\/home\/megvii\/program\/acados\/interfaces\/acados_template\/acados_template\/acados_ocp_solver.py<\/span>"<\/span>,<\/span> <\/span>line<\/span> <\/span>937<\/span>,<\/span> <\/span>in<\/span> <\/span>__init__<\/span><\/span>\n    <\/span>self.generate(acados_ocp,<\/span> <\/span>json_file=json_file,<\/span> <\/span>simulink_opts=simulink_opts,<\/span> <\/span>cmake_builder=cmake_builder<\/span>)<\/span><\/span>\n  <\/span>File<\/span> <\/span>"<\/span>\/home\/megvii\/program\/acados\/interfaces\/acados_template\/acados_template\/acados_ocp_solver.py<\/span>"<\/span>,<\/span> <\/span>line<\/span> <\/span>856<\/span>,<\/span> <\/span>in<\/span> <\/span>generate<\/span><\/span>\n    <\/span>ocp_render_templates(acados_ocp,<\/span> <\/span>json_file,<\/span> <\/span>cmake_builder=cmake_builder,<\/span> <\/span>simulink_opts=simulink_opts<\/span>)<\/span><\/span>\n  <\/span>File<\/span> <\/span>"<\/span>\/home\/megvii\/program\/acados\/interfaces\/acados_template\/acados_template\/acados_ocp_solver.py<\/span>"<\/span>,<\/span> <\/span>line<\/span> <\/span>743<\/span>,<\/span> <\/span>in<\/span> <\/span>ocp_render_templates<\/span><\/span>\n    <\/span>render_template(tup[0],<\/span> <\/span>tup[<\/span>1<\/span>],<\/span> <\/span>output_dir,<\/span> <\/span>json_path<\/span>)<\/span><\/span>\n  <\/span>File<\/span> <\/span>"<\/span>\/home\/megvii\/program\/acados\/interfaces\/acados_template\/acados_template\/utils.py<\/span>"<\/span>,<\/span> <\/span>line<\/span> <\/span>241<\/span>,<\/span> <\/span>in<\/span> <\/span>render_template<\/span><\/span>\n    <\/span>raise<\/span> <\/span>Exception<\/span>(<\/span>f<\/span>'Rendering of {in_file} failed!\\n\\nAttempted to execute OS command:\\n{os_cmd}\\n\\n'<\/span>)<\/span><\/span>\nException:<\/span> <\/span>Rendering<\/span> <\/span>of<\/span> <\/span>main.in.c<\/span> <\/span>failed!<\/span><\/span>\n<\/span>\nAttempted<\/span> <\/span>to<\/span> <\/span>execute<\/span> <\/span>OS<\/span> <\/span>command:<\/span><\/span>\n\/home\/megvii\/program\/acados\/bin\/t_renderer<\/span> <\/span>'<\/span>\/home\/megvii\/program\/acados\/interfaces\/acados_template\/acados_template\/c_templates_tera\/**\/*<\/span>'<\/span> <\/span>'<\/span>main.in.c<\/span>'<\/span> <\/span>'<\/span>\/home\/megvii\/program\/acados\/examples\/acados_python\/getting_started\/acados_ocp.json<\/span>'<\/span> <\/span>'<\/span>main_pendulum_ode.c<\/span>'<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n
<\/code><\/pre>\n\n\n\n
\u62a5\u9519\u539f\u56e0<\/h1>\n\n\n\n
\u53ea\u627e\u5230\u4e86\u4e00\u7bc7\u5e16\u5b50\u662f\u8fd0\u884c\u5728arm\u67b6\u6784\u4e0b\u624d\u51fa\u73b0\u8fd9\u4e2a\u95ee\u9898\uff0c\u4f46\u6211\u662f\u8dd1\u5728x86\u67b6\u6784\u4e0b\u7684\uff0c\u6240\u4ee5\u539f\u56e0\u8fd8\u4e0d\u6e05\u695a<\/p>\n\n\n\n
\u89e3\u51b3\u65b9\u6cd5<\/h1>\n\n\n\n
\u901a\u8fc7tera\u7f16\u8bd1\u751f\u6210\u7684t_renderer\u4ee3\u66ff\u7531make\u751f\u6210\u7684\u9519\u8bef\u7248\u672c<\/p>\n\n\n\n
<\/circle><\/circle><\/circle><\/g><\/svg><\/span><\/path><\/path><\/svg><\/span>
sudo<\/span> <\/span>git<\/span> <\/span>glone<\/span> <\/span>https:\/\/github.com\/acados\/tera_renderer.git<\/span><\/span>\ncargo<\/span> <\/span>build<\/span> <\/span>--verbose<\/span> <\/span>--release<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n
<\/code><\/pre>\n\n\n\n
\u6ca1\u6709\u5b89\u88c5cargo\u7684\u9700\u8981[code]sudo apt-get install cargo<\/code>[code]sudo apt-get install cargo<\/code>\uff0c\u957f\u65f6\u95f4\u5361\u5728Updating crates.io index\u81ea\u884c\u67e5\u8be2\u600e\u4e48\u66f4\u6362\u56fd\u5185cargo\u6e90)
\u66ff\u6362t_renderer\u6587\u4ef6
<\/p>\n\n\n\n
<\/circle><\/circle><\/circle><\/g><\/svg><\/span><\/path><\/path><\/svg><\/span>
cd<\/span> <\/span>target\/release<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n
\u5c06t_renderer\u6587\u4ef6\u62f7\u8d1d\u5230{acados\u5b89\u88c5\u76ee\u5f55}\/bin\u76ee\u5f55\u4e0b\u66ff\u6362\u539f\u6709\u7684\u6587\u4ef6
\u7f16\u8bd1\u901a\u8fc7<\/p>\n\n\n\n
\u53c2\u8003<\/h1>\n\n\n\n
https:\/\/discourse.acados.org\/t\/problems-with-t-renderer\/438\/4<\/a><\/p>\n\n\n\n
<\/p>\n","protected":false},"excerpt":{"rendered":"
\u95ee\u9898\u63cf\u8ff0 \u5728\u5b89\u88c5acados\u540e\u8fd0\u884c\u6d4b\u8bd5\u8282\u70b9\u65f6\u51fa\u73b0\u9519\u8bef\uff1a \u62a5\u9519\u539f\u56e0 \u53ea\u627e\u5230\u4e86\u4e00\u7bc7\u5e16\u5b50\u662f\u8fd0\u884c\u5728arm\u67b6\u6784\u4e0b\u624d\u51fa\u73b0\u8fd9\u4e2a\u95ee\u9898\uff0c\u4f46\u6211\u662f\u8dd1\u5728x …<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"emotion":"","emotion_color":"","title_style":"","license":"","footnotes":""},"categories":[6,5],"tags":[],"class_list":["post-302","post","type-post","status-publish","format-standard","hentry","category-solver","category-tools"],"_links":{"self":[{"href":"https:\/\/jamilblog.top\/index.php?rest_route=\/wp\/v2\/posts\/302","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/jamilblog.top\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/jamilblog.top\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/jamilblog.top\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/jamilblog.top\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=302"}],"version-history":[{"count":4,"href":"https:\/\/jamilblog.top\/index.php?rest_route=\/wp\/v2\/posts\/302\/revisions"}],"predecessor-version":[{"id":312,"href":"https:\/\/jamilblog.top\/index.php?rest_route=\/wp\/v2\/posts\/302\/revisions\/312"}],"wp:attachment":[{"href":"https:\/\/jamilblog.top\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=302"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/jamilblog.top\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=302"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/jamilblog.top\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=302"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}