Syntax Error while running MPC with Ipopt

Specific Domains Optimization (Mathematical)
1

I am working with the simulator with a 3DOF-bicycle model. I am having a problem when I use the dynamic model in the MPC. When I am using the kinematic model, it works.

I have uploaded the files here. (https://github.com/agoswam/Simulator/blob/master/src/controller_MPC_ARC_Dyn.jl )

Run the simulator:
roslaunch simulator simulator

Run the MPC with kinematic model:
rosrun simulator controller_MPC_ARC_Kin1.jl

Run the MPC with dynamic model:
rosrun simulator controller_MPC_ARC_Dyn.jl

I am getting the following error:
while loading /home/angshuman/catkin_ws/src/GitHub_simulator/src/controller_MPC_ARC_Dyn.jl, in expression starting on line 63
ERROR: LoadError: syntax: missing comma or ) in argument list
in include_from_node1(::String) at ./loading.jl:488
in process_options(::Base.JLOptions) at ./client.jl:265
in _start() at ./client.jl:321
while loading /home/angshuman/catkin_ws/src/GitHub_simulator/src/controller_MPC_ARC_Dyn.jl, in expression starting on line 109. I don’t see any syntax problem where I am getting the error.

2

What version of JuMP are you using? @defVar has been replaced by @variable quite some time ago. Perhaps this could simply be fixed by switching to a newer version of JuMP. (sorry, can’t run the code right now to verify, on a mobile phone).