cannot compile trajopt #20

k-maheshkumar · 2017-09-14T16:29:19Z

i cloned the package and created build directory. So
cd build && cmake .. -DGUROBI_LIBRARY=/opt/gurobi751/linux64/lib/libgurobi75.so && make
gave me above error. Please help me to build it.

The text was updated successfully, but these errors were encountered:

EdsterG · 2017-09-15T23:44:34Z

Can you provide more information? What system are you compiling on? What version of OSG do you have installed? Can you copy/paste the output from cmake?

k-maheshkumar · 2017-09-25T21:56:13Z

Im using ubuntu 14.04,
$ osgversion
OpenSceneGraph Library 3.4.2
$ cmake .. -DGUROBI_LIBRARY=/opt/gurobi751/linux64/lib/libgurobi75.so

cmake .. -DGUROBI_LIBRARY=/opt/gurobi751/linux64/lib/libgurobi75.so
-- The C compiler identification is GNU 4.9.4
-- The CXX compiler identification is GNU 4.9.4
-- 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
-- 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
-- Setting build type to 'Release' as none was specified.
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.26")
-- checking for module 'eigen3'
-- found eigen3, version 3.2.0
-- Found Eigen: /usr/include/eigen3
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- system
-- python
-- thread
-- program_options
adding test with path /home/user/trajopt/python_examples/arm_to_joint_target.py
python exc
adding test with path /home/user/trajopt/python_examples/arm_to_cart_target.py
python exc
adding test with path /home/user/trajopt/python_examples/fullbody_plan.py
python exc
adding test with path /home/user/trajopt/python_examples/position_base.py
python exc
adding test with path /home/user/trajopt/python_examples/this_side_up.py
python exc
-- Found PythonInterp: /usr/bin/python (found version "2.7.6")
-- Looking for include file pthread.h
-- Looking for include file pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found GUROBI: /opt/gurobi751/linux64/lib/libgurobi75.so
Gurobi found
-- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython2.7.so (found suitable version "2.7.6", minimum required is "2")
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- python
-- Found OpenThreads: /usr/local/lib64/libOpenThreads.so
-- Found osg: /usr/local/lib64/libosg.so
-- Found osgDB: /usr/local/lib64/libosgDB.so
-- Found osgUtil: /usr/local/lib64/libosgUtil.so
-- Found osgViewer: /usr/local/lib64/libosgViewer.so
-- Found osgGA: /usr/local/lib64/libosgGA.so
-- Configuring done
-- Generating done
-- Build files have been written to: /home/user/trajopt/build

EdsterG · 2017-10-18T02:27:31Z

Looks like an issue with OpenSceneGraph 3.4.2, EventHandler handler was ether moved or removed. It should compile with OpenSceneGraph 3.4.0

tkelestemur · 2018-03-30T20:19:21Z

I am getting the exact same error. Installing OpenSceneGrasp 3.4.0 from source didn't help it.

EdsterG · 2018-03-30T22:49:58Z

Try with cmake .. -DOSG_DIR=/usr/local/lib64

EdsterG · 2018-03-30T22:58:33Z

Can you also try to compile OSG 3.4.1 from source and then compile trajopt?

tkelestemur · 2018-03-30T23:02:21Z

I've compiled without OSG (compiled the openrave without OSG as well) and it worked fine.
PS. I was compiling with cmake .. -DOSG_DIR=/usr/local/lib64.

Only problem is thatOpenRAVE is throwing a warning:

2018-03-30 19:01:49,624 openrave [WARN] [plugindatabase.h:929 RaveDatabase::_SysLoadLibrary] /usr/local/lib/openrave0.9-plugins/libqtosgrave.so: libosgDB.so.130: cannot open shared object file: No such file or directory

EdsterG · 2018-03-30T23:09:05Z

Can you post all the commands you ran to install/compile OSG, OpenRave, and TrajOpt? Including every apt-get install command.

tkelestemur · 2018-03-30T23:28:55Z

Initially, I followed this to install OpenRAVE: https://scaron.info/teaching/installing-openrave-on-ubuntu-16.04.html
The only different thing I did was to compile latest_stable branch.
After installing openrave, I cloned trajopt and
mkdir build; cd build

cmake .. -DOSG_DIR=/usr/local/lib64 -DGUROBI_LIBRARY=/opt/gurobi752/linux64/lib/libgurobi75.so

make -j4
Since this didn't work, I did the following:
cd OpenSceneGraph/build
sudo make uninstall
cd openrave/build;
sudo make uninstall
cd ..; rm -r build; mkdir build; cd build
cmake ..
make -j4
sudo make install
cd trajopt; rm -r build; mkdir build; cd build
cmake .. -DGUROBI_LIBRARY=/opt/gurobi752/linux64/lib/libgurobi75.so
make -j4

I have just tried installing OSG 3.4.1 but the openrave is not even compiling now.

EdsterG · 2018-03-31T00:49:25Z

Why don't you start fresh, make uninstall everything and delete the repos.

git clone https://github.com/openscenegraph/openscenegraph.git -b OpenSceneGraph-3.4.1
Build and install OSG 3.4.1 from source.

git clone https://github.com/flexible-collision-library/fcl.git -b 0.5.0
Build and install FCL 0.5.0 from source (needed for OpenRAVE).

Past the commands you ran to build and the resulting errors.

tkelestemur · 2018-03-31T20:56:00Z

Okay, so I've uninstalled and installed everything from scratch. Here is what I did after uninstalling:

cd OpenSceneGraph; mkdir build; cd build (OSG branch is 3.4.1)
cmake .. -DDESIRED_QT_VERSION=4
make -j5
sudo make install
cd openrave; mkdir build; cd build (OR branch is latest_stable)
mkdir build; cd build
cmake .. -DOSG_DIR=/usr/local/lib64/
make -j5
sudo make install
sudo apt-get install libopenscenegraph-dev cmake libboost-all-dev libeigen3-dev python-numpy (trajopt dependencies)
cd trajopt
mkdir build; cd build
cmake .. -DOSG_DIR=/usr/local/lib64 -DGUROBI_LIBRARY=/opt/gurobi752/linux64/lib/libgurobi75.so

And I get the exact same errors.
I think the problem is related to libopenscenegraph-dev package. I've checked ubuntu packages and it is installing version 3.2 where source installation of OpenSceneGraph is 3.4.x.

tkelestemur · 2018-03-31T21:46:24Z

I am able to build the trajopt without osgviewer. I've commented out every entry in CMakeLists.txt for osgviewer. I am not sure if this is gonna affect the trajopt functionality but it seems to me that osgviewer is used for visualisation without openrave since I'm gonna use C++ API in another openrave code this should be ok.

EdsterG · 2018-04-01T09:09:54Z

Yeah, don't install libopenscenegraph-dev via apt-get.

Uninstall the apt-get version and reinstalled the one from source by running:

sudo apt-get remove libopenscenegraph-dev
make uninstall from OpenSceneGraph/build
make install from OpenSceneGraph/build

However, you're right about OSG being needed only for visualization, so there's no need to build with it.

tkelestemur · 2018-04-01T15:56:41Z

If I don't have libopenscenegraph-dev is installed via apt-get, trajopt is throwing an error when I compile with osgviewer. I am not sure if source installation of OSG is not installing dev files or I'm point it wrong.

EdsterG · 2018-04-02T20:11:02Z

Whats the version of your OS?

tkelestemur · 2018-04-03T15:09:55Z

It's Ubuntu 16.04. I've ended up compiling openrave by disabling OSG. I uninstalled OSG 3.4.x that I installed from source and installed libopenscenegraph-dev via apt-get. Finally, I was able to compile trajopt with OSG. I am using qtcoin for openrave.

lakshmip001 · 2019-01-15T02:21:24Z

I installed libopenscegraph-dev for trajopt but it doesnt work with openrave.When I use openscenegraph same as trajopt , openrave gives an error that it doesnt load the environment. I am a beginner using two together, can you give instructions on how to use qtcoin with openrave?

lakshmip001 · 2019-01-16T10:23:12Z

I am using ubuntu 16.04 , I sloved above error by libopenscengraph-dev. Due to some reasons I did compiling again and I come across this error still
[ 96%] Linking CXX executable ../../../bin/collision-checker-unit
../../../lib/libosgviewer.so: undefined reference to osg::Callback::traverse(osg::Object*, osg::Object*)' ../../../lib/libosgviewer.so: undefined reference to osg::Group::removeChild(osg::Node*)'
../../../lib/libosgviewer.so: undefined reference to VTT for osgGA::EventHandler' ../../../lib/libosgviewer.so: undefined reference to non-virtual thunk to osgGA::EventHandler::event(osg::NodeVisitor*, osg::Drawable*)'
../../../lib/libosgviewer.so: undefined reference to vtable for osgGA::EventHandler' ../../../lib/libosgviewer.so: undefined reference to osgGA::GUIEventHandler::handle(osgGA::Event*, osg::Object*, osg::NodeVisitor*)'
../../../lib/libosgviewer.so: undefined reference to osg::Group::getNumChildren() const' ../../../lib/libosgviewer.so: undefined reference to osg::NodeVisitor::apply(osg::Drawable&)'
../../../lib/libosgviewer.so: undefined reference to osgGA::EventHandler::operator()(osg::Node*, osg::NodeVisitor*)' ../../../lib/libosgviewer.so: undefined reference to typeinfo for osgGA::EventHandler'
../../../lib/libosgviewer.so: undefined reference to osgGA::EventHandler::event(osg::NodeVisitor*, osg::Drawable*)' ../../../lib/libosgviewer.so: undefined reference to virtual thunk to osg::Drawable::EventCallback::run(osg::Object*, osg::Object*)'
../../../lib/libosgviewer.so: undefined reference to osgGA::EventHandler::handle(osgGA::Event*, osg::Object*, osg::NodeVisitor*)' ../../../lib/libosgviewer.so: undefined reference to osg::Drawable::EventCallback::run(osg::Object*, osg::Object*)'
../../../lib/libosgviewer.so: undefined reference to osg::NodeVisitor::NodeVisitor(osg::NodeVisitor const&, osg::CopyOp const&)' ../../../lib/libosgviewer.so: undefined reference to virtual thunk to osg::NodeCallback::run(osg::Object*, osg::Object*)'
../../../lib/libosgviewer.so: undefined reference to osg::NodeVisitor::apply(osg::Geometry&)' ../../../lib/libosgviewer.so: undefined reference to osg::NodeCallback::run(osg::Object*, osg::Object*)'
collect2: error: ld returned 1 exit status
src/trajopt/test/CMakeFiles/collision-checker-unit.dir/build.make:106: recipe for target 'bin/collision-checker-unit' failed
make[2]: *** [bin/collision-checker-unit] Error 1
CMakeFiles/Makefile2:635: recipe for target 'src/trajopt/test/CMakeFiles/collision-checker-unit.dir/all' failed
make[1]: *** [src/trajopt/test/CMakeFiles/collision-checker-unit.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
../../../lib/libosgviewer.so: undefined reference to osg::Callback::traverse(osg::Object*, osg::Object*)' ../../../lib/libosgviewer.so: undefined reference to osg::Group::removeChild(osg::Node*)'
../../../lib/libosgviewer.so: undefined reference to VTT for osgGA::EventHandler' ../../../lib/libosgviewer.so: undefined reference to non-virtual thunk to osgGA::EventHandler::event(osg::NodeVisitor*, osg::Drawable*)'
../../../lib/libosgviewer.so: undefined reference to vtable for osgGA::EventHandler' ../../../lib/libosgviewer.so: undefined reference to osgGA::GUIEventHandler::handle(osgGA::Event*, osg::Object*, osg::NodeVisitor*)'
../../../lib/libosgviewer.so: undefined reference to osg::Group::getNumChildren() const' ../../../lib/libosgviewer.so: undefined reference to osg::NodeVisitor::apply(osg::Drawable&)'
../../../lib/libosgviewer.so: undefined reference to osgGA::EventHandler::operator()(osg::Node*, osg::NodeVisitor*)' ../../../lib/libosgviewer.so: undefined reference to typeinfo for osgGA::EventHandler'
../../../lib/libosgviewer.so: undefined reference to osgGA::EventHandler::event(osg::NodeVisitor*, osg::Drawable*)' ../../../lib/libosgviewer.so: undefined reference to virtual thunk to osg::Drawable::EventCallback::run(osg::Object*, osg::Object*)'
../../../lib/libosgviewer.so: undefined reference to osgGA::EventHandler::handle(osgGA::Event*, osg::Object*, osg::NodeVisitor*)' ../../../lib/libosgviewer.so: undefined reference to osg::Drawable::EventCallback::run(osg::Object*, osg::Object*)'
../../../lib/libosgviewer.so: undefined reference to osg::NodeVisitor::NodeVisitor(osg::NodeVisitor const&, osg::CopyOp const&)' ../../../lib/libosgviewer.so: undefined reference to virtual thunk to osg::NodeCallback::run(osg::Object*, osg::Object*)'
../../../lib/libosgviewer.so: undefined reference to osg::NodeVisitor::apply(osg::Geometry&)' ../../../lib/libosgviewer.so: undefined reference to osg::NodeCallback::run(osg::Object*, osg::Object*)'
collect2: error: ld returned 1 exit status
src/trajopt/test/CMakeFiles/cast-cost-unit.dir/build.make:107: recipe for target 'bin/cast-cost-unit' failed
make[2]: *** [bin/cast-cost-unit] Error 1
CMakeFiles/Makefile2:678: recipe for target 'src/trajopt/test/CMakeFiles/cast-cost-unit.dir/all' failed
make[1]: *** [src/trajopt/test/CMakeFiles/cast-cost-unit.dir/all] Error 2
Makefile:94: recipe for target 'all' failed
make: *** [all] Error 2
Any idea how I can solve it.

lakshmip001 · 2019-01-28T04:10:10Z

my sudo apt-get install libopenscenegraph-dev doesnt install libopenscegraph-dev.so and results in .md5sums,.lists files . while try to remove libopenscenegraph100v5 it also removes libopenscengraph-dev. So kindly please let how I can solve this without the above error.

lakshmip001 · 2019-01-28T09:39:40Z

I sloved this problem by uninstalling and reinstalling with the following steps
git clone https://github.com/openscenegraph/openscenegraph.git -b OpenSceneGraph-3.4.1
mkdir build && cd build
cmake .. -DDESIRED_QT_VERSION=4
make -j5
sudo make install

and the setting ENV_VAR in .bashrc
export LD_LIBRARY_PATH="/usr/local/lib64:/usr/local/lib:$(openrave-config --python-dir)/openravepy/openravepy:$LD_LIBRARY_PATH"
export OPENTHREADS_INC_DIR="/usr/local/include"
export OPENTHREADS_LIB_DIR="/usr/local/lib64:/usr/local/lib"
export PATH="$OPENTHREADS_LIB_DIR:$PATH"

142857T · 2019-12-23T07:44:31Z

My solution:

install OSG3.4.0 from source
sudo apt-get install libopenscenegraph-dev
sudo cp /usr/include/osg/CameraNode usr/local/include/osg/
sudo apt-get remove libopenscenegraph-dev
build trajopt

An804182 · 2020-07-05T02:13:24Z

thanks for this post. I almost tried every method mentioned above by everyone and finally successfully build. and ctest has a result of 100% passed. so thank everyone for giving instruction

ZZHPKU · 2023-02-03T03:05:32Z

My final solution :

Environment: Ubuntu 16

Step 1: Install OpenRAVE. Ref: https://gitcode.net/mirrors/crigroup/openrave-installation?utm_source=csdn_github_accelerator.
PS: We need OpenRAVE>=0.8, so Ubuntu 16 (or 14) is required with above method.

Step 2: Install CMake, boost, and Eigen using your package manager (Don't install OpenSceneGraph as we have install it at step 1. This is important).
Command: sudo apt-get install cmake libboost-all-dev libeigen3-dev python-numpy

Step 3: Install trajopt. Command as follows:
git clone https://github.com/joschu/trajopt.git
cd trajopt
mkdir build
cd build
cmake .. -DOSG_DIR=/usr/local/lib64
make -j

An error I meet: trajopt/src/osgviewer/osgviewer.cpp:17:10: fatal error: osg/CameraNode: No such file or directory
Solution: Modify trajopt/src/osgviewer/osgviewer.cpp so that CameraNode is replaced by Camera.

Step 4: For testing, refer to https://rll.berkeley.edu/trajopt/doc/sphinx_build/html/install.html

k-maheshkumar changed the title ~~cannot build trajopt~~ cannot compile trajopt Sep 14, 2017

ddirckx mentioned this issue Feb 15, 2021

Cannot compile trajopt - OpenRAVE compilation error #46

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cannot compile trajopt #20

cannot compile trajopt #20

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cannot compile trajopt #20

cannot compile trajopt #20

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