Package CasADi MATLAB bindings

[traversaro]

Since robotology/whole-body-controllers#104, the whole-body-controllers package of the superbuild depends on the CasADi MATLAB bindings. While at the moment users install CasADi manually as documented in https://github.com/CarlottaSartore/whole-body-controllers/blob/6c3d28fec228d23323ca3c7d07f2342666e69d7e/library/simulink-library/MomentumVelocityControl/README.md#hammer-dependencies , this is an additional manual step that complicates deployment. Ideally, we should ensure that the CasADi MATLAB bindings are compiled if both ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS and ROBOTOLOGY_USES_MATLAB options are enabled.

[traversaro]

The tricky aspect here is that to compile the MATLAB bindings from source, casadi requires a forked version of SWIG, and specifically a different fork w.r.t. to the one used by YARP and iDynTree MATLAB bindings. To solve this, we should build a repo casadi-matlab-bindings that already containes the generated MATLAB SWIG bindings, so the users then will just need a compiler to build them. Furthermore, we need to ensure that the iDynTree SWIG bindings and the CasADi MATLAB bindings to not interfere with each other.

[traversaro]

As per robotology/idyntree#865, this issue quickly became relevant. While testing robotology/wb-toolbox#209 that modified WB-Toolbox to add support for osqp (and so it links osqp in the WB-Toolbox shared library plugin), @CarlottaSartore experienced this MATLAB crash in a controller that was using Casadi binaries downloaded from https://web.casadi.org/ and WB-Toolbox compiled binaries via the robotology-superbuild:

--------------------------------------------------------------------------------
          Segmentation violation detected at 2021-05-19 11:16:45 +0200
--------------------------------------------------------------------------------
Configuration:
  Crash Decoding           : Disabled - No sandbox or build area path
  Crash Mode               : continue (default)
  Default Encoding         : UTF-8
  Deployed                 : false
  Desktop Environment      : ubuntu:GNOME
  GNU C Library            : 2.27 stable
  Graphics Driver          : Intel Open Source Technology Center Mesa DRI Intel(R) UHD Graphics 630 (CFL GT2) Version 3.0 Mesa 20.0.8
  Graphics card 1          : Not Started 0x10de ( 0x10de ) 0x1f91 Version 0.0.0.0 (0-0-0)
  Graphics card 2          : 0x8086 ( 0x8086 ) 0x3e9b Version 0.0.0.0 (0-0-0)
  Java Version             : Java 1.8.0_202-b08 with Oracle Corporation Java HotSpot(TM) 64-Bit Server VM mixed mode
  MATLAB Architecture      : glnxa64
  MATLAB Entitlement ID    : 6829974
  MATLAB Root              : /usr/local/MATLAB/R2020b
  MATLAB Version           : 9.9.0.1570001 (R2020b) Update 4
  OpenGL                   : hardware
  Operating System         : Ubuntu 18.04.5 LTS
  Process ID               : 17444
  Processor ID             : x86 Family 6 Model 158 Stepping 10, GenuineIntel
  Session Key              : f0bb530d-e2d8-4db5-8908-ea9c8a9b2a8d
  Static TLS mitigation    : Enabled: Full
  Window System            : The X.Org Foundation (12008000), display :0
Fault Count: 1

Abnormal termination:
Segmentation violation
Current Thread: 'MCR 0 interpret' id 139795162932992
Register State (from fault):
  RAX = 00007f220bc46ab0  RBX = 00007f22036f0db0
  RCX = 00007f220bc46ab0  RDX = 000000000000000a
  RSP = 00007f2499065d40  RBP = 00007f220bc4bcf0
  RSI = 3fb999999999999a  RDI = 0000000000000001
   R8 = 0000000000000018   R9 = 00007f22021d7180
  R10 = 3eb0c6f7a0b5ed8d  R11 = 00007f21fd603330
  R12 = 0000000000000000  R13 = 00007f2499066010
  R14 = 0000000000000000  R15 = 00007f220bc46ab0
  RIP = 00007f21fd603373  EFL = 0000000000010206
   CS = 0033   FS = 0000   GS = 0000
Stack Trace (from fault):
[  0] 0x00007f21fd603373 /home/csartore/iit_ws/robotology-superbuild/build/install/lib/libosqp.so+00025459 validate_data+00000067
[  1] 0x00007f21fd60561f /home/csartore/iit_ws/robotology-superbuild/build/install/lib/libosqp.so+00034335 osqp_setup+00000031
[  2] 0x00007f21d4d460ef /home/csartore/personal_ws/Casadi/casadi_install/libcasadi_conic_osqp.so+00057583 _ZNK6casadi13OsqpInterface8init_memEPv+00001087
[  3] 0x00007f21df4e9333 /home/csartore/personal_ws/Casadi/casadi_install/libcasadi.so+03969843 _ZNK6casadi13ProtoFunction8checkoutEv+00000291
[  4] 0x00007f21df4e95e6 /home/csartore/personal_ws/Casadi/casadi_install/libcasadi.so+03970534 _ZN6casadi13ProtoFunction8finalizeEv+00000022
[  5] 0x00007f21df500298 /home/csartore/personal_ws/Casadi/casadi_install/libcasadi.so+04063896 _ZN6casadi16FunctionInternal8finalizeEv+00003176
[  6] 0x00007f21df4e5e04 /home/csartore/personal_ws/Casadi/casadi_install/libcasadi.so+03956228 _ZN6casadi13ProtoFunction9constructERKSt3mapISsNS_11GenericTypeESt4lessISsESaISt4pairIKSsS2_EEE+00000148
[  7] 0x00007f21df490cb4 /home/csartore/personal_ws/Casadi/casadi_install/libcasadi.so+03607732 _ZN6casadi8Function6createEPNS_16FunctionInternalERKSt3mapISsNS_11GenericTypeESt4lessISsESaISt4pairIKSsS4_EEE+00000036
[  8] 0x00007f21df6076a6 /home/csartore/personal_ws/Casadi/casadi_install/libcasadi.so+05142182 _ZN6casadi5conicERKSsS1_RKSt3mapISsNS_8SparsityESt4lessISsESaISt4pairIS0_S3_EEERKS2_ISsNS_11GenericTypeES5_SaIS6_IS0_SC_EEE+00000182
[  9] 0x00007f21df610418 /home/csartore/personal_ws/Casadi/casadi_install/libcasadi.so+05178392
[ 10] 0x00007f21df61388f /home/csartore/personal_ws/Casadi/casadi_install/libcasadi.so+05191823
[ 11] 0x00007f21df608b49 /home/csartore/personal_ws/Casadi/casadi_install/libcasadi.so+05147465 _ZN6casadi5qpsolERKSsS1_RKSt3mapISsNS_2MXESt4lessISsESaISt4pairIS0_S3_EEERKS2_ISsNS_11GenericTypeES5_SaIS6_IS0_SC_EEE+00000009
[ 12] 0x00007f21df72095d /home/csartore/personal_ws/Casadi/casadi_install/libcasadi.so+06293853 _ZN6casadi8OptiNode5solveEb+00001789
[ 13] 0x00007f21df6f499a /home/csartore/personal_ws/Casadi/casadi_install/libcasadi.so+06113690 _ZN6casadi4Opti5solveEv+00000042
[ 14] 0x00007f21dfc354fa /home/csartore/personal_ws/Casadi/casadi_install/casadiMEX.mexa64+01725690 _Z16_wrap_Opti_solveiPP11mxArray_tagiS1_+00000106
[ 15] 0x00007f21dfcbea12 /home/csartore/personal_ws/Casadi/casadi_install/casadiMEX.mexa64+02288146 mexFunction+00002466
[ 16] 0x00007f248c5eb79f     /usr/local/MATLAB/R2020b/bin/glnxa64/libmex.so+00837535
[ 17] 0x00007f248c5eb8a5     /usr/local/MATLAB/R2020b/bin/glnxa64/libmex.so+00837797
[ 18] 0x00007f248c5ebc77     /usr/local/MATLAB/R2020b/bin/glnxa64/libmex.so+00838775
[ 19] 0x00007f248c5ec804     /usr/local/MATLAB/R2020b/bin/glnxa64/libmex.so+00841732
[ 20] 0x00007f248c5dabdc     /usr/local/MATLAB/R2020b/bin/glnxa64/libmex.so+00768988
[ 21] 0x00007f248cc62720 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01160992 _ZN8Mfh_file20dispatch_file_commonEMS_FviPP11mxArray_tagiS2_EiS2_iS2_+00000208
[ 22] 0x00007f248cc63e4c /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01166924
[ 23] 0x00007f248cc64311 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01168145 _ZN8Mfh_file8dispatchEiPSt10unique_ptrI11mxArray_tagN6matrix6detail17mxDestroy_deleterEEiPPS1_+00000033
[ 24] 0x00007f24851f09e4 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10959332
[ 25] 0x00007f24851f4792 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10975122
[ 26] 0x00007f2485316b3d /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+12163901
[ 27] 0x00007f2485317f8f /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+12169103
[ 28] 0x00007f248529df0d /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+11669261
[ 29] 0x00007f248529f930 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+11675952
[ 30] 0x00007f2484dcf2d4 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06628052
[ 31] 0x00007f2484dd1314 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06636308
[ 32] 0x00007f2484dce3f1 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06624241
[ 33] 0x00007f2484dc6405 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06591493
[ 34] 0x00007f2484dc68f1 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06592753
[ 35] 0x00007f2484dcdc6a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06622314
[ 36] 0x00007f2484dcdd66 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06622566
[ 37] 0x00007f2484ef55c6 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07833030
[ 38] 0x00007f2484ef7f05 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07843589
[ 39] 0x00007f248510cfa1 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10026913
[ 40] 0x00007f24851e0c28 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10894376
[ 41] 0x00007f24851e140a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10896394
[ 42] 0x00007f248cc62720 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01160992 _ZN8Mfh_file20dispatch_file_commonEMS_FviPP11mxArray_tagiS2_EiS2_iS2_+00000208
[ 43] 0x00007f248cc64b7a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01170298 _ZN8Mfh_file8dispatchEiPP11mxArray_tagiS2_+00000314
[ 44] 0x00007f24761d656d /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos_impl.so+05162349
[ 45] 0x00007f247613edbf /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos_impl.so+04541887
[ 46] 0x00007f247613f23c /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos_impl.so+04543036
[ 47] 0x00007f2476147759 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos_impl.so+04577113
[ 48] 0x00007f247613d314 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos_impl.so+04535060
[ 49] 0x00007f247613d374 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos_impl.so+04535156
[ 50] 0x00007f24761e8742 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos_impl.so+05236546
[ 51] 0x00007f249a26cb4c  /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos.so+00318284 _Z18omDirectCallMethodRKN4mcos15COSInternedBaseINS_8internal13IdEmptyPolicyEEES5_S5_iPP11mxArray_tagiPPKS6_+00000076
[ 52] 0x00007f248438072c /usr/local/MATLAB/R2020b/bin/glnxa64/libmwlxeindexing.so+01201964
[ 53] 0x00007f248442e1b4 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwlxeindexing.so+01913268
[ 54] 0x00007f2484398a06 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwlxeindexing.so+01300998
[ 55] 0x00007f2484398a06 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwlxeindexing.so+01300998
[ 56] 0x00007f24843bc1a6 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwlxeindexing.so+01446310
[ 57] 0x00007f248436bf04 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwlxeindexing.so+01117956 _ZN9MathWorks3lxe9at_rparenEPvNS_2ts4TypeEPKvS1_S1_+00000436
[ 58] 0x00007f248529df0d /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+11669261
[ 59] 0x00007f248529e030 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+11669552
[ 60] 0x00007f2484f09e59 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07917145
[ 61] 0x00007f2484ef4af8 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07830264
[ 62] 0x00007f2484ef7f05 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07843589
[ 63] 0x00007f248510cfa1 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10026913
[ 64] 0x00007f24850be093 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+09703571
[ 65] 0x00007f24850c16cf /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+09717455
[ 66] 0x00007f24850c3d12 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+09727250
[ 67] 0x00007f24850ac850 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+09631824
[ 68] 0x00007f24850ac995 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+09632149
[ 69] 0x00007f248c2d420f /usr/local/MATLAB/R2020b/bin/glnxa64/libmwbuiltin.so+00061967 _ZNK9MathWorks7builtin10BuiltinFcn6invokeEiPP11mxArray_tagiS4_+00000079
[ 70] 0x00007f248cbff903 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+00755971
[ 71] 0x00007f248cbe206a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+00634986 _ZN18Mfh_MATLAB_fn_impl8dispatchEiPP11mxArray_tagiS2_+00000266
[ 72] 0x00007f247629185c /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos_impl.so+05929052
[ 73] 0x00007f248cc5c13c /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01134908 _Z21mdBuiltinAsBuiltinFcniPP11mxArray_tagiS1_+00000284
[ 74] 0x00007f248c2d420f /usr/local/MATLAB/R2020b/bin/glnxa64/libmwbuiltin.so+00061967 _ZNK9MathWorks7builtin10BuiltinFcn6invokeEiPP11mxArray_tagiS4_+00000079
[ 75] 0x00007f248cbff903 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+00755971
[ 76] 0x00007f248cbe27cc /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+00636876
[ 77] 0x00007f248cbe2aa1 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+00637601 _ZN18Mfh_MATLAB_fn_impl8dispatchEiPSt10unique_ptrI11mxArray_tagN6matrix6detail17mxDestroy_deleterEEiPPS1_+00000033
[ 78] 0x00007f24851f09e4 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10959332
[ 79] 0x00007f24851f4792 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10975122
[ 80] 0x00007f2485316b3d /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+12163901
[ 81] 0x00007f2485317f8f /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+12169103
[ 82] 0x00007f248529df0d /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+11669261
[ 83] 0x00007f248529f930 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+11675952
[ 84] 0x00007f2484f09e59 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07917145
[ 85] 0x00007f2484ef4af8 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07830264
[ 86] 0x00007f2484ef7f05 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07843589
[ 87] 0x00007f248510cfa1 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10026913
[ 88] 0x00007f24851e10c7 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10895559
[ 89] 0x00007f24851e1425 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10896421
[ 90] 0x00007f248cc62720 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01160992 _ZN8Mfh_file20dispatch_file_commonEMS_FviPP11mxArray_tagiS2_EiS2_iS2_+00000208
[ 91] 0x00007f248cc6445a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01168474 _ZN8Mfh_file19dispatch_with_reuseEiPP11mxArray_tagiS2_+00000314
[ 92] 0x00007f24761adaaa /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos_impl.so+04995754
[ 93] 0x00007f24762ae0d8 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos_impl.so+06045912
[ 94] 0x00007f24762a82ad /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos_impl.so+06021805
[ 95] 0x00007f248cbe235a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+00635738 _ZN18Mfh_MATLAB_fn_impl19dispatch_with_reuseEiPP11mxArray_tagiS2_+00000266
[ 96] 0x00007f24843a4af3 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwlxeindexing.so+01350387
[ 97] 0x00007f2484398456 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwlxeindexing.so+01299542
[ 98] 0x00007f24843ce7ad /usr/local/MATLAB/R2020b/bin/glnxa64/libmwlxeindexing.so+01521581
[ 99] 0x00007f24843ce306 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwlxeindexing.so+01520390
[100] 0x00007f24843b2714 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwlxeindexing.so+01406740 _ZN9MathWorks3lxe7at_rdotEPvNS_2ts4TypeEPKvS1_+00000292
[101] 0x00007f24852a6583 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+11703683
[102] 0x00007f24852a66f7 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+11704055
[103] 0x00007f2484dcf445 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06628421
[104] 0x00007f2484dd1314 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06636308
[105] 0x00007f2484dce3f1 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06624241
[106] 0x00007f2484dc6405 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06591493
[107] 0x00007f2484dc68f1 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06592753
[108] 0x00007f2484dcdc6a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06622314
[109] 0x00007f2484dcdd66 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+06622566
[110] 0x00007f2484ef55c6 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07833030
[111] 0x00007f2484ef7f05 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+07843589
[112] 0x00007f248510cfa1 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10026913
[113] 0x00007f24851e0c28 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10894376
[114] 0x00007f24851e140a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_lxe.so+10896394
[115] 0x00007f248cc62720 /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01160992 _ZN8Mfh_file20dispatch_file_commonEMS_FviPP11mxArray_tagiS2_EiS2_iS2_+00000208
[116] 0x00007f248cc64b7a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwm_dispatcher.so+01170298 _ZN8Mfh_file8dispatchEiPP11mxArray_tagiS2_+00000314
[117] 0x00007f24761d656d /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos_impl.so+05162349
[118] 0x00007f24761d6d3a /usr/local/MATLAB/R2020b/bin/glnxa64/libmwmcos_impl.so+05164346
[119] 0x00007f22382765ad /usr/local/MATLAB/R2020b/bin/glnxa64/simulink_plugins/systemblock/../../../../bin/glnxa64/libmwsystemobject_mcos.so+01082797
[120] 0x00007f2238252f4d /usr/local/MATLAB/R2020b/bin/glnxa64/simulink_plugins/systemblock/../../../../bin/glnxa64/libmwsystemobject_mcos.so+00937805 _ZN6somcos12callStepImplERiPN4mcos8COSValueEiPKS2_+00000845
[121] 0x00007f22384a3523 /usr/local/MATLAB/R2020b/bin/glnxa64/simulink_plugins/systemblock/../../../../bin/glnxa64/libmwmatlabsystemblock.so+01352995 _ZN12SysBlockBase17MSysObjDispatcher22invokeSysObjMethodImplENS0_14ImplMethodTypeERiPN4mcos8COSValueEiPKS4_+00001075
[122] 0x00007f22384a3c19 /usr/local/MATLAB/R2020b/bin/glnxa64/simulink_plugins/systemblock/../../../../bin/glnxa64/libmwmatlabsystemblock.so+01354777 _ZN12SysBlockBase17MSysObjDispatcher18invokeSysObjMethodENS0_14ImplMethodTypeERiPN4mcos8COSValueEiPKS4_+00000089
[123] 0x00007f22384ab8f5 /usr/local/MATLAB/R2020b/bin/glnxa64/simulink_plugins/systemblock/../../../../bin/glnxa64/libmwmatlabsystemblock.so+01386741 _ZN12SysBlockBase17MSysObjDispatcher11callOutputsEP11SLExecBlock+00001909
[124] 0x00007f2238467034 /usr/local/MATLAB/R2020b/bin/glnxa64/simulink_plugins/systemblock/../../../../bin/glnxa64/libmwmatlabsystemblock.so+01105972
[125] 0x00007f225a7d8cd5 /usr/local/MATLAB/R2020b/bin/glnxa64/builtins/sl_main/../../../../bin/glnxa64/libmwsl_engine_classes.so+02493653
[126] 0x00007f225b4e1d58 /usr/local/MATLAB/R2020b/bin/glnxa64/builtins/sl_main/../../../../bin/glnxa64/libmwsl_lang_blocks.so+09801048
[127] 0x00007f225a7d9e05 /usr/local/MATLAB/R2020b/bin/glnxa64/builtins/sl_main/../../../../bin/glnxa64/libmwsl_engine_classes.so+02498053

Program State:
Most Recent Simulink Activity:
playSimulationAction : OK in editor 1 at Wed May 19 11:16:13 2021
        
Most Recent Tool Interaction:
Editor 1: tools idle, GLUE2::PanZoomTool is most recently active tool since Wed May 19 11:16:11 2021
        

This error was detected while a MEX-file was running. If the MEX-file
is not an official MathWorks function, please examine its source code
for errors. Please consult the External Interfaces Guide for information
on debugging MEX-files.

The issue is probably due to the fact that osqp in robotology-superbuild is 0.6.2 and the one used in official casadi binaries is 0.5.0, and they are not ABI compatible.

[traversaro]

Fortunately thanks to @GiulioRomualdi efforts the casadi version in the robotology-superbuild is compatible with the latest osqp (see casadi/casadi#2671), so indeed fixing this issue should permit to use in the same controllers the CasADi MATLAB bindings and the WB-Toolbox binaries.

[traversaro]

Fixing this should also permit to package https://github.com/robotology/urdf2casadi-matlab as part of the robotology-superbuild (and also get conda packages for it).

[traversaro]

To ensure that the generated conda binary packages work as expected when a qp solver is used, we also need to remember to fix this: conda-forge/casadi-feedstock#51 .