I am having issues getting custom kinematics modules compiled and working on the debian jessie machinekit system image for beagle bone black. (full system details below)
For testing I modified trivkins.c by changing the filename to nontrivkins.c and changing line 88 to: static const char *name = "nontrivkins"; If I set my halfile to use trivkins it loads fine, but if I use nontrivkins (or any kinematics files I compile) it crashes with the following errors: FrankenSteinway.hal:11:insmod failed. returned -1: rtapi_app_main(motmod): -1 Operation not permitted checking /var/log/linuxcnc.log: > Apr 30 19:22:39 beaglebone msgd:0: startup pid=23991 flavor=xenomai > rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc 4.9.2 > version=v0.1~-detached~992d53e Apr 30 19:22:39 beaglebone msgd:0: ØMQ=4.0.5 czmq=2.2.0 protobuf=2.6.1 > atomics=gcc intrinsics libwebsockets=<no version symbol> Apr 30 19:22:39 beaglebone msgd:0: configured: sha=992d53e Apr 30 19:22:39 beaglebone msgd:0: built: Apr 12 2017 10:28:22 > sha=992d53e Apr 30 19:22:39 beaglebone msgd:0: register_stuff: actual hostname as > announced by avahi='beaglebone.local' Apr 30 19:22:39 beaglebone msgd:0: zeroconf: registering: 'Log service on > beaglebone.local pid 23991' Apr 30 19:22:40 beaglebone msgd:0: zeroconf: registered 'Log service on > beaglebone.local pid 23991' _machinekit._tcp 0 TXT > "uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" "instance=5fd4f2e2-2d$ Apr 30 19:22:45 beaglebone rtapi:0: rtapi_app_main(motmod): -1 Operation > not permitted Apr 30 19:22:52 beaglebone rtapi:0: unload: 'tp' not loaded Apr 30 19:22:52 beaglebone rtapi:0: unload: 'nontrivkins' not loaded Apr 30 19:22:53 beaglebone msgd:0: rtapi_app exit detected - scheduled > shutdown Apr 30 19:22:55 beaglebone msgd:0: msgd shutting down Apr 30 19:22:55 beaglebone msgd:0: zeroconf: unregistering 'Log service on > beaglebone.local pid 23991' Apr 30 19:22:55 beaglebone msgd:0: log buffer hwm: 0% (0 msgs, 0 bytes out > of 524288) Apr 30 19:22:55 beaglebone msgd:0: normal shutdown - global segment detached line 11 of my hal file is in bold below - it works fine if I change kinematics to trivkins: > loadrt nontrivkins # trajectory planner loadrt tp > *loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD > servo_period_nsec=[EMCMOT]SERVO_PERIOD > traj_period_nsec=[EMCMOT]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY > num_joints=[TRAJ]AXES tp=tp kins=nontrivkins* Compiling the kinematics files also causes an error Compiling realtime nontrivkins.c > Linking nontrivkins.so > cp nontrivkins.so /usr/lib/linuxcnc/posix/ > cp: cannot create regular file ‘/usr/lib/linuxcnc/posix/’: Not a directory > /usr/share/linuxcnc/Makefile.modinc:114: recipe for target 'install' failed > make: *** [install] Error 1 related to this issue: https://github.com/machinekit/machinekit/issues/1060 So I used --compile and manually copied the .so file to /usr/lib/linuxcnc/xenomai/ System is a fresh install of this https://rcn-ee.com/rootfs/bb.org/testing/2017-02-12/machinekit/bone-debian-8.7-machinekit-armhf-2017-02-12-4gb.img.xz from this page: http://elinux.org/Beagleboard:BeagleBoneBlack_Debian#BBW.2FBBB_.28All_Revs.29_Machinekit I ran these instructions to get a runtime package: > sudo apt-get install machinekit-xenomai machinekit-dev from this page http://www.machinekit.io/docs/getting-started/install-runtime-packages/ Thank you for reading this far, any help would be greatly appreciated. -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
