Px4-autopilot: java.lang.UnsupportedClassVersionError
Describe the bug
I get an java.lang.UnsupportedClassVersionError Error starting jmavsim via make px4_sitl_default jmavsim. I made sure that I use JDK version 8. I also tried that:
sudo apt install openjdk-8-jdk
sudo update-alternatives --config java # choose 8
rm -rf Tools/jMAVSim/out
Tried several times to delete all and download and install again. I followed the master version of the docs.
To Reproduce
Steps to reproduce the behavior:
- Fresh download of Firmware and execute ubuntu.sh
- Java openjdk 8 installed and selected via
sudo update-alternatives --config java make px4_sitl_default jmavsimin Firmware folder
Expected behavior
px4 sim connects to jmavsim and jmavsim starts up.
Log Files and Screenshots
make px4_sitl_default jmavsim
-- PX4 version: v1.11.0-beta1-151-g8e2c52a31a
-- PX4 config file: /home/xxx/sim/px4/Firmware/boards/px4/sitl/default.cmake
-- PX4 config: px4_sitl_default
-- PX4 platform: posix
-- PX4 lockstep: enabled
-- cmake build type: RelWithDebInfo
-- The CXX compiler identification is GNU 7.5.0
-- The C compiler identification is GNU 7.5.0
-- The ASM compiler identification is GNU
-- Found assembler: /usr/bin/cc
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Building for code coverage
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.6.9", minimum required is "3")
-- build type is RelWithDebInfo
-- PX4 ECL: Very lightweight Estimation & Control Library v1.9.0-rc1-274-gcda7486
-- Configuring done
-- Generating done
-- Build files have been written to: /home/xxx/sim/px4/Firmware/build/px4_sitl_default
[0/738] git submodule src/drivers/gps/devices
[1/738] git submodule src/lib/ecl
[10/738] git submodule mavlink/include/mavlink/v2.0
[13/738] git submodule Tools/jMAVSim
[737/738] cd /home/xxx/sim/px4/Firmware/build/px4_sitl_default/tmp && /home/xxx/s...none /home/xxx/sim/px4/Firmware /home/xxx/sim/px4/Firmware/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/xxx/sim/px4/Firmware/build/px4_sitl_default/bin/px4
debugger: none
program: jmavsim
model: none
world: none
src_path: /home/xxx/sim/px4/Firmware
build_path: /home/xxx/sim/px4/Firmware/build/px4_sitl_default
empty model, setting iris as default
SITL COMMAND: "/home/xxx/sim/px4/Firmware/build/px4_sitl_default/bin/px4" "/home/xxx/sim/px4/Firmware"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t "/home/xxx/sim/px4/Firmware"/test_data
INFO [px4] Creating symlink /home/xxx/sim/px4/Firmware/ROMFS/px4fmu_common -> /home/xxx/sim/px4/Firmware/build/px4_sitl_default/tmp/rootfs/etc
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
SYS_AUTOCONFIG: curr: 0 -> new: 1
* SYS_AUTOSTART: curr: 0 -> new: 10016
BAT_N_CELLS: curr: 0 -> new: 3
CAL_ACC0_ID: curr: 0 -> new: 1311244
CAL_ACC_PRIME: curr: 0 -> new: 1311244
CAL_GYRO0_ID: curr: 0 -> new: 2294028
CAL_GYRO_PRIME: curr: 0 -> new: 2294028
CAL_MAG0_ID: curr: 0 -> new: 197388
CAL_MAG_PRIME: curr: 0 -> new: 197388
COM_DISARM_LAND: curr: 2.0000 -> new: 0.5000
COM_OBL_ACT: curr: 0 -> new: 2
COM_RC_IN_MODE: curr: 0 -> new: 1
EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
COM_ARM_EKF_AB: curr: 0.0017 -> new: 0.0050
EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
MC_PITCH_P: curr: 6.5000 -> new: 6.0000
MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
MC_ROLL_P: curr: 6.5000 -> new: 6.0000
MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
MPC_Z_VEL_I: curr: 0.1000 -> new: 0.1500
MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
MPC_SPOOLUP_TIME: curr: 1.0000 -> new: 0.5000
MPC_TKO_RAMP_T: curr: 3.0000 -> new: 1.0000
NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
NAV_DLL_ACT: curr: 0 -> new: 2
RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
SDLOG_MODE: curr: 0 -> new: 1
SDLOG_PROFILE: curr: 3 -> new: 131
SDLOG_DIRS_MAX: curr: 0 -> new: 7
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
TRIG_INTERFACE: curr: 4 -> new: 3
COM_CPU_MAX: curr: 90.0000 -> new: -1.0000
* RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
* RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
PWM_MAX: curr: 2000 -> new: 1950
PWM_MIN: curr: 1000 -> new: 1075
GPS_UBX_DYNMODEL: curr: 7 -> new: 6
* SYS_AUTOCONFIG: curr: 1 -> new: 0
INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
Buildfile: /home/xxx/sim/px4/Firmware/Tools/jMAVSim/build.xml
make_dirs:
[mkdir] Created dir: /home/xxx/sim/px4/Firmware/Tools/jMAVSim/out/production/jMAVSim
compile:
[javac] Compiling 76 source files to /home/xxx/sim/px4/Firmware/Tools/jMAVSim/out/production/jMAVSim
create_run_jar:
[jar] Building jar: /home/xxx/sim/px4/Firmware/Tools/jMAVSim/out/production/jmavsim_run.jar
copy_res:
[copy] Copying 17 files to /home/xxx/sim/px4/Firmware/Tools/jMAVSim/out/production
BUILD SUCCESSFUL
Total time: 6 seconds
Exception in thread "main" java.lang.UnsupportedClassVersionError: me/drton/jmavsim/Simulator has been compiled by a more recent version of the Java Runtime (class file version 57.0), this version of the Java Runtime only recognizes class file versions up to 52.0
at java.lang.ClassLoader.defineClass1(Native Method)
at java.lang.ClassLoader.defineClass(ClassLoader.java:756)
at java.security.SecureClassLoader.defineClass(SecureClassLoader.java:142)
at java.net.URLClassLoader.defineClass(URLClassLoader.java:468)
at java.net.URLClassLoader.access$100(URLClassLoader.java:74)
at java.net.URLClassLoader$1.run(URLClassLoader.java:369)
at java.net.URLClassLoader$1.run(URLClassLoader.java:363)
at java.security.AccessController.doPrivileged(Native Method)
at java.net.URLClassLoader.findClass(URLClassLoader.java:362)
at java.lang.ClassLoader.loadClass(ClassLoader.java:418)
at java.lang.ClassLoader.loadClass(ClassLoader.java:351)
at java.lang.Class.forName0(Native Method)
at java.lang.Class.forName(Class.java:348)
at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:59)
^CERROR [px4] Startup script returned with return value: 2
/home/xxx/sim/px4/Firmware/Tools/sitl_run.sh: line 174: kill: (10905) - No such process
ninja: build stopped: interrupted by user.
Makefile:198: recipe for target 'px4_sitl_default' failed
make: *** [px4_sitl_default] Interrupt
Additional context
I saw other related issues here, but they didn't helped me.
The log is from a brand new installation, so /out was not existing. Also tried to clean /out at the installations before, but became the same error.
I have also installed ros melodic and ros2 dashing and have the px4_ros_com built.
Bert-Tec
All 6 comments
And this happens, also if you do rm -rf Tools/jMAVSim/out and try again?
julianoes
on 5 May 2020
yes, I tried it again and made sure /out does not exists, see the output following:
xxx@HP-ProBook-450-G5:~/sim/px4/Firmware$ sudo update-alternatives --config java
There are 3 choices for the alternative java (providing /usr/bin/java).
Selection Path Priority Status
------------------------------------------------------------
0 /usr/lib/jvm/java-11-openjdk-amd64/bin/java 1111 auto mode
1 /usr/lib/jvm/java-11-openjdk-amd64/bin/java 1111 manual mode
* 2 /usr/lib/jvm/java-8-openjdk-amd64/jre/bin/java 1081 manual mode
3 /usr/lib/jvm/jdk-13.0.2/bin/java 2 manual mode
Press <enter> to keep the current choice[*], or type selection number: 2
xxx@HP-ProBook-450-G5:~/sim/px4/Firmware$ rm -rf Tools/jMAVSim/out
xxx@HP-ProBook-450-G5:~/sim/px4/Firmware$ ls Tools/jMAVSim/
art build.xml fix_style.sh jMAVlib jMAVSim.ipr LICENSE models src
astylerc_java environment jar-in-jar-loader.zip jMAVSim.iml lib mavlink README.md tools
xxx@HP-ProBook-450-G5:~/sim/px4/Firmware$ make px4_sitl jmavsim
[0/1] cd /home/xxx/sim/px4/Firmware/build/px4_sitl_default/tmp &...m/px4/Firmware /home/xxx/sim/px4/Firmware/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/xxx/sim/px4/Firmware/build/px4_sitl_default/bin/px4
debugger: none
program: jmavsim
model: none
world: none
src_path: /home/xxx/sim/px4/Firmware
build_path: /home/xxx/sim/px4/Firmware/build/px4_sitl_default
empty model, setting iris as default
SITL COMMAND: "/home/xxx/sim/px4/Firmware/build/px4_sitl_default/bin/px4" "/home/xxx/sim/px4/Firmware"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t "/home/xxx/sim/px4/Firmware"/test_data
INFO [px4] Creating symlink /home/xxx/sim/px4/Firmware/ROMFS/px4fmu_common -> /home/xxx/sim/px4/Firmware/build/px4_sitl_default/tmp/rootfs/etc
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
SYS_AUTOCONFIG: curr: 0 -> new: 1
* SYS_AUTOSTART: curr: 0 -> new: 10016
BAT_N_CELLS: curr: 0 -> new: 3
CAL_ACC0_ID: curr: 0 -> new: 1311244
CAL_ACC_PRIME: curr: 0 -> new: 1311244
CAL_GYRO0_ID: curr: 0 -> new: 2294028
CAL_GYRO_PRIME: curr: 0 -> new: 2294028
CAL_MAG0_ID: curr: 0 -> new: 197388
CAL_MAG_PRIME: curr: 0 -> new: 197388
COM_DISARM_LAND: curr: 2.0000 -> new: 0.5000
COM_OBL_ACT: curr: 0 -> new: 2
COM_RC_IN_MODE: curr: 0 -> new: 1
EKF2_ANGERR_INIT: curr: 0.1000 -> new: 0.0100
EKF2_GBIAS_INIT: curr: 0.1000 -> new: 0.0100
COM_ARM_EKF_AB: curr: 0.0017 -> new: 0.0050
EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
MC_PITCH_P: curr: 6.5000 -> new: 6.0000
MC_PITCHRATE_P: curr: 0.1500 -> new: 0.2000
MC_ROLL_P: curr: 6.5000 -> new: 6.0000
MC_ROLLRATE_P: curr: 0.1500 -> new: 0.2000
MPC_HOLD_MAX_Z: curr: 0.6000 -> new: 2.0000
MPC_Z_VEL_I: curr: 0.1000 -> new: 0.1500
MPC_Z_VEL_P: curr: 0.2000 -> new: 0.6000
MPC_XY_P: curr: 0.9500 -> new: 0.8000
MPC_XY_VEL_P: curr: 0.0900 -> new: 0.2000
MPC_XY_VEL_D: curr: 0.0100 -> new: 0.0160
MPC_SPOOLUP_TIME: curr: 1.0000 -> new: 0.5000
MPC_TKO_RAMP_T: curr: 3.0000 -> new: 1.0000
NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
NAV_DLL_ACT: curr: 0 -> new: 2
RTL_DESCEND_ALT: curr: 30.0000 -> new: 5.0000
RTL_LAND_DELAY: curr: -1.0000 -> new: 5.0000
RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
SDLOG_MODE: curr: 0 -> new: 1
SDLOG_PROFILE: curr: 3 -> new: 131
SDLOG_DIRS_MAX: curr: 0 -> new: 7
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
TRIG_INTERFACE: curr: 4 -> new: 3
COM_CPU_MAX: curr: 90.0000 -> new: -1.0000
* RTL_DESCEND_ALT: curr: 5.0000 -> new: 10.0000
* RTL_LAND_DELAY: curr: 5.0000 -> new: 0.0000
PWM_MAX: curr: 2000 -> new: 1950
PWM_MIN: curr: 1000 -> new: 1075
GPS_UBX_DYNMODEL: curr: 7 -> new: 6
* SYS_AUTOCONFIG: curr: 1 -> new: 0
INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
Buildfile: /home/xxx/sim/px4/Firmware/Tools/jMAVSim/build.xml
make_dirs:
[mkdir] Created dir: /home/xxx/sim/px4/Firmware/Tools/jMAVSim/out/production/jMAVSim
compile:
[javac] Compiling 76 source files to /home/xxx/sim/px4/Firmware/Tools/jMAVSim/out/production/jMAVSim
create_run_jar:
[jar] Building jar: /home/xxx/sim/px4/Firmware/Tools/jMAVSim/out/production/jmavsim_run.jar
copy_res:
[copy] Copying 17 files to /home/xxx/sim/px4/Firmware/Tools/jMAVSim/out/production
BUILD SUCCESSFUL
Total time: 2 seconds
Exception in thread "main" java.lang.UnsupportedClassVersionError: me/drton/jmavsim/Simulator has been compiled by a more recent version of the Java Runtime (class file version 57.0), this version of the Java Runtime only recognizes class file versions up to 52.0
at java.lang.ClassLoader.defineClass1(Native Method)
at java.lang.ClassLoader.defineClass(ClassLoader.java:756)
at java.security.SecureClassLoader.defineClass(SecureClassLoader.java:142)
at java.net.URLClassLoader.defineClass(URLClassLoader.java:468)
at java.net.URLClassLoader.access$100(URLClassLoader.java:74)
at java.net.URLClassLoader$1.run(URLClassLoader.java:369)
at java.net.URLClassLoader$1.run(URLClassLoader.java:363)
at java.security.AccessController.doPrivileged(Native Method)
at java.net.URLClassLoader.findClass(URLClassLoader.java:362)
at java.lang.ClassLoader.loadClass(ClassLoader.java:418)
at java.lang.ClassLoader.loadClass(ClassLoader.java:351)
at java.lang.Class.forName0(Native Method)
at java.lang.Class.forName(Class.java:348)
at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:59)
^CERROR [px4] Startup script returned with return value: 2
/home/xxx/sim/px4/Firmware/Tools/sitl_run.sh: line 174: kill: (18788) - No such process
ninja: build stopped: interrupted by user.
Makefile:205: recipe for target 'px4_sitl' failed
make: *** [px4_sitl] Interrupt
xxx@HP-ProBook-450-G5:~/sim/px4/Firmware$
Alright, I have to believe you :smile:. Is this on Ubuntu 20.04?
julianoes
on 5 May 2020
Ubuntu 18.04, sorry forgot to mention.
Bert-Tec
on 5 May 2020
👍1
I just tried it in Ubuntu 18.04 and Ubuntu 20.04 inside VirtualBox and it worked fine.
That's with:
java -version
openjdk version "1.8.0_252"
OpenJDK Runtime Environment (build 1.8.0_252-8u252-b09-1~18.04-b09)
OpenJDK 64-Bit Server VM (build 25.252-b09, mixed mode)
uname -a
Linux vbox-ubuntu1804 4.15.0-99-generic #100-Ubuntu SMP Wed Apr 22 20:32:56 UTC 2020 x86_64 x86_64 x86_64 GNU/Linux
Thanks @julianoes
Not sure what the problem was, but I tried it with a fresh install of ubuntu 18.04 and it worked.
Bert-Tec
on 6 May 2020
👍1
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