Segmentation fault on minimal example

Himanshu · December 29, 2025, 10:24am

Hello,

While running the minimal example under acados_python , I get the segmentation fault error, I tried building tera_renderer from source but that doesn’t seem to help at all

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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_cost/pendulum_ode_cost_y_fun.o pendulum_ode_cost/pendulum_ode_cost_y_fun.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_cost/pendulum_ode_cost_y_hess.o pendulum_ode_cost/pendulum_ode_cost_y_hess.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o acados_solver_pendulum_ode.o acados_solver_pendulum_ode.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_model/pendulum_ode_expl_ode_fun.o pendulum_ode_model/pendulum_ode_expl_ode_fun.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_model/pendulum_ode_expl_vde_forw.o pendulum_ode_model/pendulum_ode_expl_vde_forw.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_model/pendulum_ode_expl_vde_adj.o pendulum_ode_model/pendulum_ode_expl_vde_adj.c
gcc -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_expl_ode_fun.o pendulum_ode_model/pendulum_ode_expl_vde_forw.o pendulum_ode_model/pendulum_ode_expl_vde_adj.o -o libacados_ocp_solver_pendulum_ode.so -L/home/himanshu/Documents/mpc-quadruped/acados/lib -lacados -lhpipm -lblasfeo -lm \
-L -l
acados was compiled without OpenMP.
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o acados_sim_solver_pendulum_ode.o acados_sim_solver_pendulum_ode.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_model/pendulum_ode_expl_ode_fun.o pendulum_ode_model/pendulum_ode_expl_ode_fun.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_model/pendulum_ode_expl_vde_forw.o pendulum_ode_model/pendulum_ode_expl_vde_forw.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_model/pendulum_ode_expl_vde_adj.o pendulum_ode_model/pendulum_ode_expl_vde_adj.c
gcc -shared acados_sim_solver_pendulum_ode.o pendulum_ode_model/pendulum_ode_expl_ode_fun.o pendulum_ode_model/pendulum_ode_expl_vde_forw.o pendulum_ode_model/pendulum_ode_expl_vde_adj.o -o libacados_sim_solver_pendulum_ode.so -L/home/himanshu/Documents/mpc-quadruped/acados/lib -lacados -lhpipm -lblasfeo -lm
acados was compiled without OpenMP.
Segmentation fault (core dumped)

maybe not exactly relevant , but I tried reverting as explained here

but the code outputs
SyntaxError: encoding problem: future_fstrings
I am working on python 3.12 on ubuntu 24.04.2 LTS

FreyJo · December 29, 2025, 10:43am

Hi,

I don’t think your issue is related to the thread you linked to.
In particular, the rendering process did not report errors.
It seems like you are running minimal_example_closed_loop.py.
Can you try minimal_example_sim.py and minimal_example_ocp.py?

Is there anything special about your system?
The examples are tested on standard recent Ubuntu via Github actions.

Best,
Jonathan

Himanshu · December 29, 2025, 12:33pm

It’s on my personal laptop. It gives a similar segmentation fault error when I run those two files , I am on the main branch now .

(mpcq) himanshu@himanshu-Nitro-AN515-54:~/Documents/mpc-quadruped/acados/examples/acados_python/getting_started$ python3 minimal_example_sim.py

Tera template render executable not found, while looking in path:
/home/himanshu/Documents/mpc-quadruped/acados/bin/t_renderer
In order to be able to render the templates, you need to download the tera renderer binaries from:
https://github.com/acados/tera_renderer/releases

Do you wish to set up Tera renderer automatically?
y/N? (press y to download tera or any key for manual installation)
y
Downloading https://github.com/acados/tera_renderer/releases/download/v0.2.0/t_renderer-v0.2.0-linux-amd64
Successfully downloaded t_renderer.
Successfully made t_renderer executable.
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o acados_sim_solver_pendulum_ode.o acados_sim_solver_pendulum_ode.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_model/pendulum_ode_impl_dae_fun.o pendulum_ode_model/pendulum_ode_impl_dae_fun.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -shared acados_sim_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_sim_solver_pendulum_ode.so -L/home/himanshu/Documents/mpc-quadruped/acados/lib -lacados -lhpipm -lblasfeo -lm
acados was compiled without OpenMP.
Segmentation fault (core dumped)
(mpcq) himanshu@himanshu-Nitro-AN515-54:~/Documents/mpc-quadruped/acados/examples/acados_python/getting_started$ python3 minimal_example_ocp.py
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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_cost/pendulum_ode_cost_y_fun.o pendulum_ode_cost/pendulum_ode_cost_y_fun.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_cost/pendulum_ode_cost_y_hess.o pendulum_ode_cost/pendulum_ode_cost_y_hess.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o acados_solver_pendulum_ode.o acados_solver_pendulum_ode.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_model/pendulum_ode_impl_dae_fun.o pendulum_ode_model/pendulum_ode_impl_dae_fun.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -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/himanshu/Documents/mpc-quadruped/acados/lib -lacados -lhpipm -lblasfeo -lm \
-L -l
acados was compiled without OpenMP.
Segmentation fault (core dumped)

(mpcq) himanshu@himanshu-Nitro-AN515-54:~/Documents/mpc-quadruped/acados/examples/acados_python/getting_started$ python3 minimal_example_ocp.py
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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_cost/pendulum_ode_cost_y_fun.o pendulum_ode_cost/pendulum_ode_cost_y_fun.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_cost/pendulum_ode_cost_y_hess.o pendulum_ode_cost/pendulum_ode_cost_y_hess.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o acados_solver_pendulum_ode.o acados_solver_pendulum_ode.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_model/pendulum_ode_impl_dae_fun.o pendulum_ode_model/pendulum_ode_impl_dae_fun.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -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/himanshu/Documents/mpc-quadruped/acados/lib -lacados -lhpipm -lblasfeo -lm \
-L -l
acados was compiled without OpenMP.
Segmentation fault (core dumped)

FreyJo · December 29, 2025, 12:41pm

Hi,

can you try:

Compiling acados with -DCMAKE_BUILD_TYPE=Debug
Run minimal_example_sim.py
cd c_generated_code
Uncomment # CFLAGS += -g3 -fno-diagnostics-show-line-numbers -g in Makefile
run make example_sim
valgrind ./main_sim_pendulum_ode. You might need to install valgrind first.

This should give some more information on where the program is crashing.

Best,
Jonathan

Himanshu · December 29, 2025, 2:02pm

This is the output I get after running valgrind ./main_sim_pendulum_ode

(mpcq) himanshu@himanshu-Nitro-AN515-54:~/Documents/mpc-quadruped/acados/examples/acados_python/getting_started/c_generated_code$ valgrind ./main_sim_pendulum_ode 
==13791== Memcheck, a memory error detector
==13791== Copyright (C) 2002-2022, and GNU GPL'd, by Julian Seward et al.
==13791== Using Valgrind-3.22.0 and LibVEX; rerun with -h for copyright info
==13791== Command: ./main_sim_pendulum_ode
==13791== 
main_sim: initial state not defined, should be in lbx_0, using zero vector.
S_forw, 0
+1.000e+00 +4.960e-03 +1.000e-01 +1.646e-04 +5.005e-03 
+0.000e+00 +1.068e+00 +0.000e+00 +1.023e-01 +6.321e-03 
+0.000e+00 +1.003e-01 +1.000e+00 +4.960e-03 +1.002e-01 
+0.000e+00 +1.379e+00 +0.000e+00 +1.068e+00 +1.278e-01 

x_current, 0
0.000000e+00
0.000000e+00
0.000000e+00
0.000000e+00

S_forw, 1
+1.000e+00 +4.960e-03 +1.000e-01 +1.646e-04 +5.005e-03 
+0.000e+00 +1.068e+00 +0.000e+00 +1.023e-01 +6.321e-03 
+0.000e+00 +1.003e-01 +1.000e+00 +4.960e-03 +1.002e-01 
+0.000e+00 +1.379e+00 +0.000e+00 +1.068e+00 +1.278e-01 

x_current, 1
0.000000e+00
0.000000e+00
0.000000e+00
0.000000e+00

S_forw, 2
+1.000e+00 +4.960e-03 +1.000e-01 +1.646e-04 +5.005e-03 
+0.000e+00 +1.068e+00 +0.000e+00 +1.023e-01 +6.321e-03 
+0.000e+00 +1.003e-01 +1.000e+00 +4.960e-03 +1.002e-01 
+0.000e+00 +1.379e+00 +0.000e+00 +1.068e+00 +1.278e-01 

x_current, 2
0.000000e+00
0.000000e+00
0.000000e+00
0.000000e+00

Performed 3 simulation steps with acados integrator successfully.

==13791== 
==13791== HEAP SUMMARY:
==13791==     in use at exit: 0 bytes in 0 blocks
==13791==   total heap usage: 14 allocs, 14 frees, 17,680 bytes allocated
==13791== 
==13791== All heap blocks were freed -- no leaks are possible
==13791== 
==13791== For lists of detected and suppressed errors, rerun with: -s
==13791== ERROR SUMMARY: 0 errors from 0 contexts (suppressed: 0 from 0)

FreyJo · December 29, 2025, 2:36pm

Ok, so you cannot reproduce the segfault in a pure C file.
Then, I think it has to do something with the Interface.
Can you add some prints in Python and see where the example fails?
Is the solver creation process working and the solve failing?

Himanshu · December 29, 2025, 3:20pm

I think the issue is with acados_integrator = AcadosSimSolver(sim)

Here’s what I did:

#
# Copyright (c) The acados authors.
#
# This file is part of acados.
#
# The 2-Clause BSD License
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.;
#

from acados_template import AcadosSim, AcadosSimSolver
from pendulum_model import export_pendulum_ode_model
from utils import plot_pendulum
import numpy as np


def main():

    sim = AcadosSim()
    print("Loaded Acados")
    sim.model = export_pendulum_ode_model()
    
    Tf = 0.1
    nx = sim.model.x.rows()
    N_sim = 200

    # set simulation time
    sim.solver_options.T = Tf
    # set options
    sim.solver_options.integrator_type = 'IRK'
    sim.solver_options.num_stages = 3
    sim.solver_options.num_steps = 3
    sim.solver_options.newton_iter = 3 # for implicit integrator
    sim.solver_options.collocation_type = "GAUSS_RADAU_IIA"
    print("solver setup done")
    # create
    acados_integrator = AcadosSimSolver(sim)
    print("Simulation Solver")
    x0 = np.array([0.0, np.pi+1, 0.0, 0.0])
    u0 = np.array([0.0])
    xdot_init = np.zeros((nx,))

    simX = np.zeros((N_sim+1, nx))
    simX[0,:] = x0
    print("States defined")

    for i in range(N_sim):
        # Note that xdot is only used if an IRK integrator is used
        print(i)
        simX[i+1,:] = acados_integrator.simulate(x=simX[i,:], u=u0, xdot=xdot_init)

    S_forw = acados_integrator.get("S_forw")
    print("S_forw, sensitivities of simulation result wrt x,u:\n", S_forw)

    plot_pendulum(np.linspace(0, N_sim*Tf, N_sim+1), 10, np.repeat(u0, N_sim), simX,
                  latexify=False, time_label=sim.model.t_label, x_labels=sim.model.x_labels, u_labels=sim.model.u_labels)


if __name__ == "__main__":
    main()

and I got

(mpcq) himanshu@himanshu-Nitro-AN515-54:~/Documents/mpc-quadruped$ /home/himanshu/Documents/mpc-quadruped/mpcq/bin/python /home/himanshu/Documents/mpc-quadruped/acados/examples/acados_python/getting_started/minimal_example_sim.py
Loaded Acados
solver setup done
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o acados_sim_solver_pendulum_ode.o acados_sim_solver_pendulum_ode.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_model/pendulum_ode_impl_dae_fun.o pendulum_ode_model/pendulum_ode_impl_dae_fun.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -shared acados_sim_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_sim_solver_pendulum_ode.so -L/home/himanshu/Documents/mpc-quadruped/acados/lib -lacados -lhpipm -lblasfeo -lm
acados was compiled without OpenMP.
Simulation Solver
States defined
0
Segmentation fault (core dumped)

Himanshu · December 31, 2025, 5:14am

Is there anything I could try?

FreyJo · December 31, 2025, 10:27am

The issue is not in the creation, but when the solver gets called, in

acados_integrator.simulate(...)

This functionality should be tested in the main C file that I pointed you to before.
Now, I don’t know what could be the issue.
You can try to replace the simulate call with the calls to solve and set, see the simulate implementation.

If the issue is in solve, you can try to use a different integrator, like
sim.solver_options.integrator_type = 'ERK'.

Let me know what you find.
Best,
Jonathan

Himanshu · December 31, 2025, 12:09pm

Yeah, I noticed the error was in solver call , forgot to edit it out in my reply.

I changed the integrator from IRK to ERK which showed a similar error.

    for i in range(N_sim):
        # Note that xdot is only used if IRK integrator is used
        print(i)
        acados_integrator.set("x",simX[i,:])
        acados_integrator.set("u",u0)
        acados_integrator.set("xdot",xdot_init)
        print(i)
        simX[i+1,:] = acados_integrator.solve()

which shows the same error, the error is persistent while calling Acadosimsolver methods.

Loaded Acados
solver setup done
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o acados_sim_solver_pendulum_ode.o acados_sim_solver_pendulum_ode.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/hpipm/include  -c -o pendulum_ode_model/pendulum_ode_impl_dae_fun.o pendulum_ode_model/pendulum_ode_impl_dae_fun.c
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -fPIC -std=c99   -O2 -I/home/himanshu/Documents/mpc-quadruped/acados/include -I/home/himanshu/Documents/mpc-quadruped/acados/include/acados -I/home/himanshu/Documents/mpc-quadruped/acados/include/blasfeo/include -I/home/himanshu/Documents/mpc-quadruped/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
gcc -shared acados_sim_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_sim_solver_pendulum_ode.so -L/home/himanshu/Documents/mpc-quadruped/acados/lib -lacados -lhpipm -lblasfeo -lm
acados was compiled without OpenMP.
Simulation Solver
States defined
0
Segmentation fault (core dumped)