Hi 
I‘m using Python interface of acados.
The environment I use is Ubuntu 22.04, Python 3.9, Pycharm Community Edition.
I successfully ran the minimal_example_ocp.py program of acados in the Ubuntu terminal, but I get an error when I configure the same environment and run the same code in pycharm.
Code (Ubuntu terminal)
(base) k@k-Lenovo:~$ source home/k/tum-control-venv/bin/activate
(tum-control-venv) (base) k@k-Lenovo:~$ python /home/k/acados/examples/acados_python/getting_started/minimal_example_ocp.py
WARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not well defined!
got cost_type EXTERNAL for cost_type_e, hessian_approx: 'GAUSS_NEWTON'.
With this setting, acados will proceed computing the exact Hessian for the cost term and no Hessian contribution from constraints and dynamics.
If the external cost is a linear least squares cost, this coincides with the Gauss-Newton Hessian.
Note: There is also the option to use the external cost module with a numerical Hessian approximation (see `ext_cost_num_hess`).
OR the option to provide a symbolic custom Hessian approximation (see `cost_expr_ext_cost_custom_hess`).
rm -f libacados_ocp_solver_pendulum_ode.so
rm -f pendulum_ode_cost/pendulum_ode_cost_y_0_fun.o pendulum_ode_cost/pendulum_ode_cost_y_0_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_0_hess.o pendulum_ode_cost/pendulum_ode_cost_y_fun.o pendulum_ode_cost/pendulum_ode_cost_y_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_hess.o pendulum_ode_cost/pendulum_ode_cost_y_e_fun.o pendulum_ode_cost/pendulum_ode_cost_y_e_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_e_hess.o acados_solver_pendulum_ode.o
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_0_fun.o pendulum_ode_cost/pendulum_ode_cost_y_0_fun.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_0_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_0_fun_jac_ut_xt.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_0_hess.o pendulum_ode_cost/pendulum_ode_cost_y_0_hess.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_fun.o pendulum_ode_cost/pendulum_ode_cost_y_fun.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_fun_jac_ut_xt.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_hess.o pendulum_ode_cost/pendulum_ode_cost_y_hess.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_e_fun.o pendulum_ode_cost/pendulum_ode_cost_y_e_fun.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_e_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_e_fun_jac_ut_xt.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_e_hess.o pendulum_ode_cost/pendulum_ode_cost_y_e_hess.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o acados_solver_pendulum_ode.o acados_solver_pendulum_ode.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_model/pendulum_ode_impl_dae_fun.o pendulum_ode_model/pendulum_ode_impl_dae_fun.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_z.o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_z.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_u_z.o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_u_z.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_u.o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_u.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_model/pendulum_ode_impl_dae_jac_x_xdot_u_z.o pendulum_ode_model/pendulum_ode_impl_dae_jac_x_xdot_u_z.c
cc -shared pendulum_ode_cost/pendulum_ode_cost_y_0_fun.o pendulum_ode_cost/pendulum_ode_cost_y_0_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_0_hess.o pendulum_ode_cost/pendulum_ode_cost_y_fun.o pendulum_ode_cost/pendulum_ode_cost_y_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_hess.o pendulum_ode_cost/pendulum_ode_cost_y_e_fun.o pendulum_ode_cost/pendulum_ode_cost_y_e_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_e_hess.o acados_solver_pendulum_ode.o pendulum_ode_model/pendulum_ode_impl_dae_fun.o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_z.o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_u_z.o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_u.o pendulum_ode_model/pendulum_ode_impl_dae_jac_x_xdot_u_z.o -o libacados_ocp_solver_pendulum_ode.so -L/home/k/acados/lib -lacados -lhpipm -lblasfeo -lm \
-L -l
acados was compiled without OpenMP.
iter res_stat res_eq res_ineq res_comp qp_statqp_iter alpha
0 6.283185e+03 8.259477e-17 0.000000e+00 0.000000e+00 0 00.000000e+00
1 4.157952e+03 3.287960e+00 0.000000e+00 4.872276e-14 0 71.000000e+00
2 1.075826e+03 3.853160e+00 0.000000e+00 7.587925e+01 0 27 4.900000e-01
3 7.297345e+02 4.596882e+00 1.421085e-14 6.792801e-12 0 12 1.000000e+00
4 7.830690e+02 1.008541e+01 0.000000e+00 5.807888e-10 0 22 1.000000e+00
5 2.742341e+02 8.222071e-01 0.000000e+00 8.033253e-11 0 21 1.000000e+00
6 2.061598e+01 1.014569e-02 0.000000e+00 8.528716e-08 0 31.000000e+00
7 1.068400e-01 4.453771e-05 0.000000e+00 6.941675e-08 0 31.000000e+00
8 1.435036e-03 2.790096e-08 0.000000e+00 9.821706e-10 0 31.000000e+00
9 2.216659e-05 7.440659e-12 0.000000e+00 1.094352e-09 0 31.000000e+00
10 3.862291e-07 3.552714e-15 0.000000e+00 1.092658e-09 0 31.000000e+00
But in Pycharm, there are some bugs.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
WARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not well defined!
got cost_type EXTERNAL for cost_type_e, hessian_approx: 'GAUSS_NEWTON'.
With this setting, acados will proceed computing the exact Hessian for the cost term and no Hessian contribution from constraints and dynamics.
If the external cost is a linear least squares cost, this coincides with the Gauss-Newton Hessian.
Note: There is also the option to use the external cost module with a numerical Hessian approximation (see `ext_cost_num_hess`).
OR the option to provide a symbolic custom Hessian approximation (see `cost_expr_ext_cost_custom_hess`).
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
Warning: Did not find environment variable ACADOS_SOURCE_DIR, guessed ACADOS_PATH to be /home/k/acados.
Please export ACADOS_SOURCE_DIR to avoid this warning.
rm -f libacados_ocp_solver_pendulum_ode.so
rm -f pendulum_ode_cost/pendulum_ode_cost_y_0_fun.o pendulum_ode_cost/pendulum_ode_cost_y_0_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_0_hess.o pendulum_ode_cost/pendulum_ode_cost_y_fun.o pendulum_ode_cost/pendulum_ode_cost_y_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_hess.o pendulum_ode_cost/pendulum_ode_cost_y_e_fun.o pendulum_ode_cost/pendulum_ode_cost_y_e_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_e_hess.o acados_solver_pendulum_ode.o
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_0_fun.o pendulum_ode_cost/pendulum_ode_cost_y_0_fun.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_0_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_0_fun_jac_ut_xt.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_0_hess.o pendulum_ode_cost/pendulum_ode_cost_y_0_hess.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_fun.o pendulum_ode_cost/pendulum_ode_cost_y_fun.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_fun_jac_ut_xt.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_hess.o pendulum_ode_cost/pendulum_ode_cost_y_hess.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_e_fun.o pendulum_ode_cost/pendulum_ode_cost_y_e_fun.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_e_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_e_fun_jac_ut_xt.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_cost/pendulum_ode_cost_y_e_hess.o pendulum_ode_cost/pendulum_ode_cost_y_e_hess.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o acados_solver_pendulum_ode.o acados_solver_pendulum_ode.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_model/pendulum_ode_impl_dae_fun.o pendulum_ode_model/pendulum_ode_impl_dae_fun.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_z.o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_z.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_u_z.o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_u_z.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_u.o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_u.c
cc -fPIC -std=c99 -O2 -I/home/k/acados/include -I/home/k/acados/include/acados -I/home/k/acados/include/blasfeo/include -I/home/k/acados/include/hpipm/include -c -o pendulum_ode_model/pendulum_ode_impl_dae_jac_x_xdot_u_z.o pendulum_ode_model/pendulum_ode_impl_dae_jac_x_xdot_u_z.c
cc -shared pendulum_ode_cost/pendulum_ode_cost_y_0_fun.o pendulum_ode_cost/pendulum_ode_cost_y_0_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_0_hess.o pendulum_ode_cost/pendulum_ode_cost_y_fun.o pendulum_ode_cost/pendulum_ode_cost_y_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_hess.o pendulum_ode_cost/pendulum_ode_cost_y_e_fun.o pendulum_ode_cost/pendulum_ode_cost_y_e_fun_jac_ut_xt.o pendulum_ode_cost/pendulum_ode_cost_y_e_hess.o acados_solver_pendulum_ode.o pendulum_ode_model/pendulum_ode_impl_dae_fun.o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_z.o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_u_z.o pendulum_ode_model/pendulum_ode_impl_dae_fun_jac_x_xdot_u.o pendulum_ode_model/pendulum_ode_impl_dae_jac_x_xdot_u_z.o -o libacados_ocp_solver_pendulum_ode.so -L/home/k/acados/lib -lacados -lhpipm -lblasfeo -lm \
-L -l
Traceback (most recent call last):
File "/home/k/snap/pycharm-community-2022.1.4/plugins/python-ce/helpers/pydev/pydevd.py", line 1491, in _exec
pydev_imports.execfile(file, globals, locals) # execute the script
File "/home/k/snap/pycharm-community-2022.1.4/plugins/python-ce/helpers/pydev/_pydev_imps/_pydev_execfile.py", line 18, in execfile
exec(compile(contents+"\n", file, 'exec'), glob, loc)
File "/home/k/acados/examples/acados_python/getting_started/minimal_example_ocp.py", line 109, in <module>
main()
File "/home/k/acados/examples/acados_python/getting_started/minimal_example_ocp.py", line 88, in main
ocp_solver = AcadosOcpSolver(ocp)
File "/home/k/acados/interfaces/acados_template/acados_template/acados_ocp_solver.py", line 239, in __init__
self.__acados_lib = get_shared_lib(libacados_filepath, self.winmode)
File "/home/k/acados/interfaces/acados_template/acados_template/utils.py", line 130, in get_shared_lib
shared_lib = DllLoader(shared_lib_name)
File "/home/k/anaconda3/lib/python3.9/ctypes/__init__.py", line 382, in __init__
self._handle = _dlopen(self._name, mode)
OSError: libqpOASES_e.so: cannot open shared object file: No such file or directory
python-BaseException
Backend tkagg is interactive backend. Turning interactive mode on.
Process finished with exit code 130 (interrupted by signal 2: SIGINT)
settings in pycharm:
I wish someone could help me, thank you very much. 