Problem with code generation in RobCoGen

[awa152]

I know that this isn't an issue with the control toolbox itself, but with the generation step in RobCoGen, but I don't really know where to file an issue elsewhere.

I am trying to generate the files on Ubuntu 18.04 with openjdk-8-jre installed with the compatible RobCoGen version 0.4ad.0.
When trying to generate the C++ code everything works except the generation of the coordinate Transforms and the geometric jacobian. I tried the example.kindsl provided in the folder and a few other robots descriptions. I also reinstalled java and tried it inside a Docker Container to be sure that there is no conflict between different java versions on my laptop. In the Docker Container I tried openjdk-8-jre and openjdk-11-jre.

I get the following errors

When trying to get the C++ coordinate Transform:

Exception in thread "main" java.lang.NullPointerException
at iit.dsl.maxdsl.utils.MaximaConversionUtils.cleanMatrixRowOutput(Unknown Source)
at iit.dsl.maxdsl.utils.MaximaConversionUtils.getMatrix(Unknown Source)
at iit.dsl.coord.generator.maxima.converter.MaximaConverter.parseTransform(Unknown Source)
at iit.dsl.coord.generator.cpp.TransformsClasses.localClassesDefinitions(Unknown Source)
at iit.dsl.coord.generator.cpp.EigenFiles.implementationsFileContent(Unknown Source)
at iit.dsl.generator.cpp.kinematics.Transforms.generate(Unknown Source)
at iit.dsl.generator.cpp.Generator.generateTransforms(Unknown Source)
at iit.robcogen.KinDSLWrapper.generate(Unknown Source)
at iit.robcogen.Generator.main(Unknown Source)

When trying to get the geometric jacobian:

Exception in thread "main" java.lang.NullPointerException
at iit.dsl.maxdsl.utils.MaximaConversionUtils.cleanMatrixRowOutput(Unknown Source)
at iit.dsl.maxdsl.utils.MaximaConversionUtils.getMatrix(Unknown Source)
at iit.dsl.generator.maxima.Converter.getJacobianText(Unknown Source)
at iit.dsl.generator.cpp.kinematics.Jacobians.localClassesDefinitions(Unknown Source)
at iit.dsl.generator.cpp.kinematics.Jacobians.sourceFile(Unknown Source)
at iit.dsl.generator.cpp.Generator.generateJacobiansFiles(Unknown Source)
at iit.robcogen.KinDSLWrapper.generate(Unknown Source)
at iit.robcogen.Generator.main(Unknown Source)

Maybe someone else already had the same issue and could point me into the right direction. I tried to generate the code with the newer version 0.5.1 and it worked, but I don't know about the compatibility between the newer version 0.5.1 and the control toolbox.

kind regards

[awa152]

After writing with Marco Frigerio he showed me that this error is due to an old bug that was fixed in the newer version of RobCoGen, but not in 0.4ad.0.
Simply removing a "/" sign from the framework.properties configuration resolved this issue, like:
generator.maxima.libs.path = ../etc/maxima-libs (do NOT use "/" at the end).

I am just writing this in case somebody else runs into the same problem when trying to use the control toolbox with RobCoGen 0.4ad.0