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rl_sim包catkin build编译时find_package找不到一系列功能包 #1

Open Wwwwjunjie opened 1 month ago

Wwwwjunjie commented 1 month ago

rl_sim包中的CMakeLists出现问题，find_package所有包都找不到，换catkin_make出现以下报错

`home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h: In member function ‘virtual std::shared_ptr torch::jit::TensorCastValue::call(const torch::jit::SourceRange&, torch::jit::GraphFunction&, c10::ArrayRef, c10::ArrayRef, size_t)’: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:555:60: error: cannot convert ‘const torch::jit::SourceRange’ to ‘int’ 555 Value* dtypeconst = m.graph()->insertConstant(dtype, loc); ^~~
const torch::jit::SourceRange
In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/function_impl.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/method.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/object.h:6, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/module.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/import.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:9, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/ir/ir.h:1371:7: note: initializing argument 2 of ‘torch::jit::Value* torch::jit::Graph::insertConstant(const c10::IValue&, int)’ 1371 std::optional loc = c10::nullopt, ^~~~~ In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/resolver.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/script_type_parser.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/unpickler.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/pickle.h:8, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:10, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:562:19: error: cannot convert ‘const torch::jit::SourceRange’ to ‘int’ 562 /range=/loc); ^~~
const torch::jit::SourceRange
In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/function_impl.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/method.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/object.h:6, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/module.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/import.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:9, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/ir/ir.h:1385:7: note: initializing argument 4 of ‘torch::jit::Value* torch::jit::Graph::insert(c10::Symbol, c10::ArrayRef, c10::ArrayRef, int)’ 1385 const std::optional& range = {}); ^~~~~~~ In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/resolver.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/script_type_parser.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/unpickler.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/pickle.h:8, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:10, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h: At global scope: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:641:12: error: ‘std::optional’ has not been declared 641 std::optional static_len = c10::nullopt); ^~~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:641:20: error: expected ‘,’ or ‘...’ before ‘<’ token 641 std::optional static_len = c10::nullopt); ^ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:657:8: error: ‘optional’ in namespace ‘std’ does not name a template type 657 std::optional staticLen() override { ^~~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:657:3: note: ‘std::optional’ is only available from C++17 onwards 657 std::optional staticLen() override { ^~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:670:8: error: ‘optional’ in namespace ‘std’ does not name a template type 670 std::optional staticlen; ^~~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:670:3: note: ‘std::optional’ is only available from C++17 onwards 670 std::optional staticlen; ^~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:715:8: error: ‘optional’ in namespace ‘std’ does not name a template type 715 std::optional staticLen() override { ^~~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:715:3: note: ‘std::optional’ is only available from C++17 onwards 715 std::optional staticLen() override { ^~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:733:8: error: ‘optional’ in namespace ‘std’ does not name a template type 733 std::optional unrolllength = c10::nullopt; ^~~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:733:3: note: ‘std::optional’ is only available from C++17 onwards 733 std::optional unrolllength = c10::nullopt; ^~~ /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h: In member function ‘virtual std::shared_ptr torch::jit::SimpleSelf::makeSugared(torch::jit::Value*) const’: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:747:16: error: cannot convert ‘const ClassTypePtr’ {aka ‘const std::shared_ptr’} to ‘c10::TypePtr’ {aka ‘c10::Type::SingletonOrSharedTypePtr’} 747 v->setType(classType_); ^~~~~~
const ClassTypePtr {aka const std::shared_ptr}
In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/function_impl.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/method.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/object.h:6, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/module.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/import.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:9, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/ir/ir.h:1504:38: note: initializing argument 1 of ‘torch::jit::Value* torch::jit::Value::setType(c10::TypePtr)’ 1504 inline Value* Value::setType(TypePtr type) { ~~^~ In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/resolver.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/script_type_parser.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/unpickler.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/pickle.h:8, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:10, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h: In member function ‘virtual std::shared_ptr torch::jit::ExceptionValue::call(const torch::jit::SourceRange&, torch::jit::GraphFunction&, c10::ArrayRef, c10::ArrayRef, size_t)’: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:797:74: error: cannot convert ‘const torch::jit::SourceRange’ to ‘int’ 797 auto exceptionmessage = insertConstant(*m.graph(), message + ": ", loc); ^~~
const torch::jit::SourceRange

In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/ir/named_value.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/ir/ir.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/function_impl.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/method.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/object.h:6, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/api/module.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/import.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:9, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/ir/constants.h:28:5: note: initializing argument 3 of ‘torch::jit::Value torch::jit::insertConstant(torch::jit::Graph&, const c10::IValue&, int)’ 28 | std::optional loc = c10::nullopt, | ^~~~~ In file included from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/resolver.h:5, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/script_type_parser.h:4, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/unpickler.h:7, from /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/serialization/pickle.h:8, from /home/ros/tmp/libtorch/libtorch/include/torch/script.h:10, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.hpp:4, from /home/ros/tmp/wiki-grx-gazebo/src/rl_sim/library/rl_sdk/rl_sdk.cpp:1: /home/ros/tmp/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:800:43: error: no match for ‘operator’ (operand type is ‘c10::StringTypePtr’ {aka ‘c10::SingletonTypePtr’}) 800 | if (!input_str->type()->isSubtypeOf(*StringType::get())) { | ^~~~~~ `

Wwwwjunjie commented 1 month ago

换了一个设备没有出现这个问题

fan-ziqi commented 1 month ago

若换设备可以解决，则不是代码库的问题，请检查是否按照README配置了环境。