ValueError: cost_expr_ext_cost_e can not depend on u or z.

[trafalgar-law-chan]

in conda mpc_planner, I run python generate_jackalsimulator_solver.py , got the following output:

how to solve this problem?

[lgnotime]

i have the same problem as you. Have you solved it?if you have ,please tell me how.thank you so much!!!

[Littlestarluo]

Same problem. I had tried to fix the code in generate_jackalsimulator_solver.py and mpc_base.py, but getting another error AND in the risk of Invalidation.

[Xhimself805]

@oscardegroot Hi Dr. Groot, I hope you are doing well, I meet the same problem using Ubuntu 22.04, ROS2 Humble, miniconda. and when using acados for solver generation, I was trying to run python mpc_planner_jackalsimulator/scripts/generate_jackalsimulator_solver.py, but the bug as the figure shows came out, could you give us some guidance to figure this out? Thank you in advance to your assistance!
Best,
Jinxiu

[oscardegroot]

Hi all, sorry for the late reply. I suspect that Acados got updated after I released this code. The Docker container repo has the Acados version pinned. You can try to use that pinned version. Let me know if that works for you.

[Xhimself805]

happy new year! Dr. Groot, Thank you greatly for your reply! The solver is generated, but the jackal simulator and dingo are not working on ROS2 Humble. I am trying to figure it out.
I really appreciate your assistance! it is more than useful,

[Xhimself805]

@oscardegroot thank you very much! Dr. Groot, I run it successfully on my Jetson Nano.