Comments (12)
costashatz
commented on July 16, 2024
Can you do ls /usr/local/lib and post the results?
Did you try to do sudo ldconfig after installing DART?
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AranBSmith
commented on July 16, 2024
I did not use sudo ldconfig. I tried it just now in the dart build directory, and retried the hexapod_dart setup.
Below is ls /usr/local/lib
~/itev2/hexapod_simu/hexapod_dart$ ls /usr/local/lib
cmake libdart-optimizer-ipopt.so.6.3
libdart-collision-bullet.so libdart-optimizer-ipopt.so.6.3.0
libdart-collision-bullet.so.6.3 libdart-optimizer-nlopt.so
libdart-collision-bullet.so.6.3.0 libdart-optimizer-nlopt.so.6.3
libdart-collision-ode.so libdart-optimizer-nlopt.so.6.3.0
libdart-collision-ode.so.6.3 libdart-planning.so
libdart-collision-ode.so.6.3.0 libdart-planning.so.6.3
libdart-external-imgui.so libdart-planning.so.6.3.0
libdart-external-imgui.so.6.3 libdart.so
libdart-external-imgui.so.6.3.0 libdart.so.6.3
libdart-external-lodepng.so libdart.so.6.3.0
libdart-external-lodepng.so.6.3 libdart-utils.so
libdart-external-lodepng.so.6.3.0 libdart-utils.so.6.3
libdart-external-odelcpsolver.so libdart-utils.so.6.3.0
libdart-external-odelcpsolver.so.6.3 libdart-utils-urdf.so
libdart-external-odelcpsolver.so.6.3.0 libdart-utils-urdf.so.6.3
libdart-gui-osg.so libdart-utils-urdf.so.6.3.0
libdart-gui-osg.so.6.3 libnlopt.so
libdart-gui-osg.so.6.3.0 libnlopt.so.0
libdart-gui.so libnlopt.so.0.10.0
libdart-gui.so.6.3 pkgconfig
libdart-gui.so.6.3.0 python2.7
libdart-optimizer-ipopt.so python3.6
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costashatz
commented on July 16, 2024
I did not use
sudo ldconfig. I tried it just now in the dart build directory, and retried the hexapod_dart setup.
Did it work?
If not, what is your distribution?
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AranBSmith
commented on July 16, 2024
It was not successful. After running sudo ldconfig I wenth through ./waf configure --prefix=$RESIBOTS_DIR and ./waf commands. I still obtain the same error on ./waf.
lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 18.04.2 LTS
Release: 18.04
Codename: bionic
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costashatz
commented on July 16, 2024
Can you try the following:
./waf distclean./waf configure --prefix=$RESIBOTS_DIR./waf -v
And post the output?
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AranBSmith
commented on July 16, 2024
aran@aran-HP-ENVY-x360-Convertible-13-ag0xxx:~/itev2/hexapod_simu/hexapod_dart$ ./waf distclean
'distclean' finished successfully (0.007s)
aran@aran-HP-ENVY-x360-Convertible-13-ag0xxx:~/itev2/hexapod_simu/hexapod_dart$ ./waf configure --prefix=$RESIBOTS_DIR
Setting top to : /home/aran/itev2/hexapod_simu/hexapod_dart
Setting out to : /home/aran/itev2/hexapod_simu/hexapod_dart/build
Checking for 'g++' (C++ compiler) : /usr/bin/g++
Checking for 'gcc' (C compiler) : /usr/bin/gcc
Checking boost includes : 1_65_1
Checking boost libs : ok
Checking for Eigen : ok
Checking for DART includes (including utils/urdf) : ok
Checking for DART gui includes : ok
DART: Checking for optional Bullet includes : ok
Checking for DART libs (including utils/urdf) : ok
DART: Checking for Assimp : ok
Checking for DART gui libs : ok
DART: Checking for OSG (optional) : ok
Checking for hexapod_controller includes : ok
['-Wall', '-std=c++11', '-O3', '-march=native', '-g']
'configure' finished successfully (0.124s)
aran@aran-HP-ENVY-x360-Convertible-13-ag0xxx:~/itev2/hexapod_simu/hexapod_dart$ ./waf -v
Waf: Entering directory `/home/aran/itev2/hexapod_simu/hexapod_dart/build'
[1/4] Compiling src/test.cpp
[2/4] Compiling src/test.cpp
21:57:54 runner ['/usr/bin/g++', '-Wall', '-std=c++11', '-O3', '-march=native', '-g', '-I/home/aran/itev2/hexapod_simu/hexapod_dart/build/include', '-I/home/aran/itev2/hexapod_simu/hexapod_dart/include', '-I/usr/include', '-I/usr/include/eigen3', '-I/usr/local/include/eigen3', '-I/usr/local/include', '-I/home/aran/resibots/include', '-I/usr/local/include/bullet', '-I/usr/include/bullet', '-DGRAPHIC', '../src/test.cpp', '-c', '-o', '/home/aran/itev2/hexapod_simu/hexapod_dart/build/src/test.cpp.1.o']
21:57:54 runner ['/usr/bin/g++', '-Wall', '-std=c++11', '-O3', '-march=native', '-g', '-I/home/aran/itev2/hexapod_simu/hexapod_dart/build/include', '-I/home/aran/itev2/hexapod_simu/hexapod_dart/include', '-I/usr/include', '-I/home/aran/resibots/include', '-I/usr/local/include', '-I/usr/local/include/bullet', '-I/usr/include/bullet', '-I/usr/include/eigen3', '-I/usr/local/include/eigen3', '../src/test.cpp', '-c', '-o', '/home/aran/itev2/hexapod_simu/hexapod_dart/build/src/test.cpp.2.o']
[3/4] Linking build/test_plain
21:58:19 runner ['/usr/bin/g++', 'src/test.cpp.2.o', '-o', '/home/aran/itev2/hexapod_simu/hexapod_dart/build/test_plain', '-Wl,-Bstatic', '-Wl,-Bdynamic', '-L/usr/lib/x86_64-linux-gnu', '-L/home/aran/resibots/lib', '-L/usr/local/lib', '-L/usr/lib', '-L/usr/lib/x86_64-linux-gnu/', '-L/usr/local/lib', '-L/usr/lib', '-L/usr/lib/x86_64-linux-gnu/', '-L/usr/local/lib', '-L/usr/lib', '-L/usr/lib/x86_64-linux-gnu', '-lboost_regex', '-lboost_system', '-lboost_filesystem', '-ldart', '-ldart-utils', '-ldart-utils-urdf', '-lassimp', '-lBulletCollision', '-lLinearMath']
src/test.cpp.2.o: In function `void dart::common::createAspects<dart::dynamics::ShapeNode, dart::dynamics::VisualAspect, dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect>(dart::dynamics::ShapeNode*)':
/usr/local/include/dart/common/detail/SpecializedForAspect.hpp:256: undefined reference to `dart::dynamics::detail::VisualAspectProperties::VisualAspectProperties(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, bool)'
src/test.cpp.2.o: In function `dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNodeWith<dart::dynamics::VisualAspect, dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect>(std::shared_ptr<dart::dynamics::Shape> const&)':
/usr/local/include/dart/dynamics/detail/BodyNode.hpp:168: undefined reference to `dart::dynamics::BodyNode::createShapeNode(std::shared_ptr<dart::dynamics::Shape> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
src/test.cpp.2.o: In function `hexapod_dart::HexapodDARTSimu<hexapod_dart::desc<boost::fusion::vector<hexapod_dart::descriptors::DutyCycle, hexapod_dart::descriptors::BodyOrientation> >, hexapod_dart::viz<boost::fusion::vector<hexapod_dart::visualizations::HeadingArrow, hexapod_dart::visualizations::PointingArrow<Params> > >, boost::parameter::void_, boost::parameter::void_>::_add_floor()':
/home/aran/itev2/hexapod_simu/hexapod_dart/include/hexapod_dart/hexapod_dart_simu.hpp:423: undefined reference to `dart::dynamics::detail::JointProperties::JointProperties(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Transform<double, 3, 1, 0> const&, Eigen::Transform<double, 3, 1, 0> const&, bool, dart::dynamics::detail::ActuatorType)'
src/test.cpp.2.o: In function `hexapod_dart::HexapodDARTSimu<hexapod_dart::desc<boost::fusion::vector<hexapod_dart::descriptors::DutyCycle, hexapod_dart::descriptors::BodyOrientation> >, hexapod_dart::viz<boost::fusion::vector<hexapod_dart::visualizations::HeadingArrow, hexapod_dart::visualizations::PointingArrow<Params> > >, boost::parameter::void_, boost::parameter::void_>::add_box(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)':
/home/aran/itev2/hexapod_simu/hexapod_dart/include/hexapod_dart/hexapod_dart_simu.hpp:310: undefined reference to `dart::dynamics::detail::JointProperties::JointProperties(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Transform<double, 3, 1, 0> const&, Eigen::Transform<double, 3, 1, 0> const&, bool, dart::dynamics::detail::ActuatorType)'
/home/aran/itev2/hexapod_simu/hexapod_dart/include/hexapod_dart/hexapod_dart_simu.hpp:308: undefined reference to `dart::dynamics::detail::JointProperties::JointProperties(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Transform<double, 3, 1, 0> const&, Eigen::Transform<double, 3, 1, 0> const&, bool, dart::dynamics::detail::ActuatorType)'
src/test.cpp.2.o: In function `hexapod_dart::HexapodDARTSimu<hexapod_dart::desc<boost::fusion::vector<hexapod_dart::descriptors::DutyCycle, hexapod_dart::descriptors::BodyOrientation> >, hexapod_dart::viz<boost::fusion::vector<hexapod_dart::visualizations::HeadingArrow, hexapod_dart::visualizations::PointingArrow<Params> > >, boost::parameter::void_, boost::parameter::void_>::add_ellipsoid(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)':
/home/aran/itev2/hexapod_simu/hexapod_dart/include/hexapod_dart/hexapod_dart_simu.hpp:353: undefined reference to `dart::dynamics::detail::JointProperties::JointProperties(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Transform<double, 3, 1, 0> const&, Eigen::Transform<double, 3, 1, 0> const&, bool, dart::dynamics::detail::ActuatorType)'
/home/aran/itev2/hexapod_simu/hexapod_dart/include/hexapod_dart/hexapod_dart_simu.hpp:351: undefined reference to `dart::dynamics::detail::JointProperties::JointProperties(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Transform<double, 3, 1, 0> const&, Eigen::Transform<double, 3, 1, 0> const&, bool, dart::dynamics::detail::ActuatorType)'
src/test.cpp.2.o: In function `dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNodeWith<dart::dynamics::VisualAspect>(std::shared_ptr<dart::dynamics::Shape> const&)':
/usr/local/include/dart/dynamics/detail/BodyNode.hpp:168: undefined reference to `dart::dynamics::BodyNode::createShapeNode(std::shared_ptr<dart::dynamics::Shape> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
src/test.cpp.2.o: In function `dart::dynamics::ShapeNode* dart::dynamics::BodyNode::createShapeNodeWith<dart::dynamics::VisualAspect>(std::shared_ptr<dart::dynamics::Shape> const&)':
/usr/local/include/dart/common/detail/SpecializedForAspect.hpp:256: undefined reference to `dart::dynamics::detail::VisualAspectProperties::VisualAspectProperties(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, bool)'
collect2: error: ld returned 1 exit status
Waf: Leaving directory `/home/aran/itev2/hexapod_simu/hexapod_dart/build'
Build failed
-> task in 'test_plain' failed (exit status 1):
{task 139761338451344: cxxprogram test.cpp.2.o -> test_plain}
['/usr/bin/g++', 'src/test.cpp.2.o', '-o', '/home/aran/itev2/hexapod_simu/hexapod_dart/build/test_plain', '-Wl,-Bstatic', '-Wl,-Bdynamic', '-L/usr/lib/x86_64-linux-gnu', '-L/home/aran/resibots/lib', '-L/usr/local/lib', '-L/usr/lib', '-L/usr/lib/x86_64-linux-gnu/', '-L/usr/local/lib', '-L/usr/lib', '-L/usr/lib/x86_64-linux-gnu/', '-L/usr/local/lib', '-L/usr/lib', '-L/usr/lib/x86_64-linux-gnu', '-lboost_regex', '-lboost_system', '-lboost_filesystem', '-ldart', '-ldart-utils', '-ldart-utils-urdf', '-lassimp', '-lBulletCollision', '-lLinearMath']
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costashatz
commented on July 16, 2024
This is weird! Can you try export LD_LIBRARY_PATH=/lib:/usr/lib:/usr/local/lib and then re-compile?
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AranBSmith
commented on July 16, 2024
Still no luck.. If I were to restart the full installation for ite_v2, how could I ensure to remove traces of previous attempts from this setup?
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costashatz
commented on July 16, 2024
Still no luck.
This is weird. I cannot reproduce your errors. Can you make sure that you follow exactly the procedure?
If I were to restart the full installation for ite_v2, how could I ensure to remove traces of previous attempts from this setup?
cd /path/to/dart/sourcecd buildsudo make uninstall- Go into
$RESIBOTS_DIRand remove everything related to ite_v2; if you created a new folder for$RESIBOTS_DIRand you have nothing else inside, you can dorm -rf $RESIBOTS_DIR(but be sure that you do not delete something else)
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AranBSmith
commented on July 16, 2024
Encountered this Issue again after uninstalling.. Upon running make -j4 when installing dart I get very many message like the below, I'm not certain if this would have anything to do with my issue.
In file included from /home/aran/dart/dart/common/Memory.hpp:195:0,
from /home/aran/dart/dart/math/MathTypes.hpp:41,
from /home/aran/dart/dart/math/Geometry.hpp:38,
from /home/aran/dart/dart/dynamics/Shape.hpp:41,
from /home/aran/dart/dart/dynamics/SoftMeshShape.hpp:36,
from /home/aran/dart/dart/gui/osg/render/SoftMeshShapeNode.cpp:38:
/home/aran/dart/dart/common/detail/Memory-impl.hpp: In instantiation of ‘std::unique_ptr<T> dart::common::make_unique(Args&& ...) [with T = dart::dynamics::VisualAspect; Args = {const dart::common::MakeCloneable<dart::common::Aspect::Properties, dart::dynamics::detail::VisualAspectProperties>&}]’:
/home/aran/dart/dart/common/detail/AspectWithVersion.hpp:315:38: required from ‘std::unique_ptr<dart::common::Aspect> dart::common::detail::AspectWithVersionedProperties<BaseT, DerivedT, PropertiesDataT, CompositeT, updateProperties>::cloneAspect() const [with BaseT = dart::common::CompositeTrackingAspect<dart::dynamics::ShapeFrame>; DerivedT = dart::dynamics::VisualAspect; PropertiesDataT = dart::dynamics::detail::VisualAspectProperties; CompositeT = dart::dynamics::ShapeFrame; void (* updateProperties)(DerivedT*) = dart::common::detail::NoOp<dart::dynamics::VisualAspect*>]’
/home/aran/dart/dart/common/detail/SpecializedForAspect.hpp:208:33: required from ‘void dart::common::SpecializedForAspect<SpecAspect>::_set(dart::common::SpecializedForAspect<SpecAspect>::type<SpecAspect>, const SpecAspect*) [with SpecAspect = dart::dynamics::VisualAspect]’
/home/aran/dart/dart/common/detail/SpecializedForAspect.hpp:85:7: required from ‘void dart::common::SpecializedForAspect<SpecAspect>::set(const T*) [with T = dart::dynamics::VisualAspect; SpecAspect = dart::dynamics::VisualAspect]’
/home/aran/dart/dart/common/detail/CompositeJoiner.hpp:78:1: required from ‘void dart::common::CompositeJoiner<Base1, Base2>::set(const T*) [with T = dart::dynamics::VisualAspect; Base1 = dart::common::Virtual<dart::common::SpecializedForAspect<dart::dynamics::VisualAspect> >; Base2 = dart::common::Virtual<dart::common::SpecializedForAspect<dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect> >]’
/home/aran/dart/dart/common/detail/CompositeJoiner.hpp:78:1: required from ‘void dart::common::CompositeJoiner<Base1, Base2>::set(const T*) [with T = dart::dynamics::VisualAspect; Base1 = dart::common::EmbedProperties<dart::dynamics::ShapeFrame, dart::dynamics::detail::ShapeFrameProperties>; Base2 = dart::common::SpecializedForAspect<dart::dynamics::VisualAspect, dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect>]’
/home/aran/dart/dart/dynamics/ShapeFrame.hpp:198:3: required from here
/home/aran/dart/dart/common/detail/Memory-impl.hpp:67:29: warning: ‘new’ of type ‘dart::dynamics::VisualAspect’ with extended alignment 32 [-Waligned-new=]
return std::unique_ptr<T>(new T(std::forward<Args>(args)...));
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/aran/dart/dart/common/detail/Memory-impl.hpp:67:29: note: uses ‘void* operator new(std::size_t)’, which does not have an alignment parameter
/home/aran/dart/dart/common/detail/Memory-impl.hpp:67:29: note: use ‘-faligned-new’ to enable C++17 over-aligned new support
[100%] Linking CXX shared library ../../../lib/libdart-gui-osg.so
[100%] Built target dart-gui-osg
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AranBSmith
commented on July 16, 2024
I went so far as to create a fresh user on my system, and followed the commands. But I still get the same issue!
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AranBSmith
commented on July 16, 2024
Fixed with the wonders of sudo apt-get update
I also used ./waf clean each before using any waf commands.
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