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Gepetto / gepetto-viewer

Graphical Interface for Pinocchio and HPP.
BSD 2-Clause "Simplified" License
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Error compiling Gepetto-viewer on macOS 10.13 High Sierra #57

Closed zongmianli closed 7 years ago

zongmianli commented 7 years ago

I am trying to install the master branch on Mac OS 10.13. I encountered 3 types of errors while compiling urdf-parser.cpp, and each occurred multiple times.

Since I don't use the URDF parser in my project, is it easy to just remove that functionality while installing? Thanks in advance.

**1. no viable overloaded**

/Users/zml/gepetto-viewer/src/urdf-parser.cpp:105:18: error: no viable overloaded '=' visual = link->visual_array[index];


/usr/local/include/boost/smart_ptr/shared_ptr.hpp:524:18: note: candidate function not viable: no known conversion from 'value_type' (aka 'std::__1::shared_ptr<urdf::Visual>') to 'const boost::shared_ptr<urdf::Visual>' for 1st argument
    shared_ptr & operator=( shared_ptr const & r ) BOOST_NOEXCEPT
                 ^
/usr/local/include/boost/smart_ptr/shared_ptr.hpp:533:18: note: candidate template ignored: could not match 'boost::shared_ptr' against 'std::__1::shared_ptr'
    shared_ptr & operator=(shared_ptr<Y> const & r) BOOST_NOEXCEPT
                 ^
/usr/local/include/boost/smart_ptr/shared_ptr.hpp:544:18: note: candidate template ignored: could not match 'auto_ptr' against 'shared_ptr'
    shared_ptr & operator=( std::auto_ptr<Y> & r )
                 ^
/usr/local/include/boost/smart_ptr/shared_ptr.hpp:562:77: note: candidate template ignored: substitution failure [with Ap = std::__1::shared_ptr<urdf::Visual>]: no type named 'type' in 'boost::detail::sp_enable_if_auto_ptr<std::__1::shared_ptr<urdf::Visual>,
      boost::shared_ptr<urdf::Visual> &>'
    typename boost::detail::sp_enable_if_auto_ptr< Ap, shared_ptr & >::type operator=( Ap r )
                                                                       ~~~~ ^
/usr/local/include/boost/smart_ptr/shared_ptr.hpp:584:18: note: candidate template ignored: could not match 'unique_ptr' against 'shared_ptr'
    shared_ptr & operator=( boost::movelib::unique_ptr<Y, D> r )

**2. no matching function for call to 'static_pointer_cast'**

/Users/zml/gepetto-viewer/src/urdf-parser.cpp:147:20: error: no matching function for call to 'static_pointer_cast' mesh_shared_ptr = boost::static_pointer_cast< ::urdf::Mesh > ^~~~~~~~~~ /usr/local/include/boost/smart_ptr/shared_ptr.hpp:845:42: note: candidate template ignored: could not match 'boost::shared_ptr' against 'std::__1::shared_ptr' template<class T, class U> shared_ptr static_pointer_cast( shared_ptr const & r ) BOOST_NOEXCEPT

**3. use of overloaded operator '!=' is ambiguous**

/Users/zml/gepetto-viewer/src/urdf-parser.cpp:172:62: error: use of overloaded operator '!=' is ambiguous (with operand types 'MaterialSharedPtr' (aka 'shared_ptr') and 'long') if (visual && urdfLink->visual_array [j]->material != NULL) {

jmirabel commented 7 years ago

The problem is that you have a recent version of urdfdom, which uses shared_ptr from std instead of from boost. It should not be hard to solve. You could just try to replace the boost::shared_ptr by std::shared_ptr. (Same thing for cast operators). I do not guaranty it will work, but it is worth trying.

@nim65s Would you have time to make it compliant for both versions (as done in pinocchio) ?

jcarpent commented 7 years ago

Or simply, you can install an older version of URDF (eg 0.3.0) waiting for the fix from our side.

jcarpent commented 7 years ago

It appears that @nim65s already solved the issue (see https://github.com/nim65s/gepetto-viewer). It must be sufficient for your issues.

zongmianli commented 7 years ago

Thanks Joseph and Justin, for being so reactive.

The shared_ptr problem has been solved by following Joseph's instruction (specifically I have modified

include/gepetto/viewer/macros.h include/gepetto/viewer/node-property.h src/urdf-parser.cpp

by making the same changes as commit 90e154 in the forked project https://github.com/nim65s/gepetto-viewer ). But the third error in the issue still exists: use of overloaded operator '!=' is ambiguous:

/Users/zml/gepetto-viewer/src/urdf-parser.cpp:154:28: error: use of overloaded operator '!=' is ambiguous (with operand types '::std::shared_ptr< ::urdf::Mesh>' and 'int') if ( mesh_shared_ptr != 0 )


/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/include/c++/v1/memory:4961:1: note: candidate function [with _Tp = urdf::Mesh]
operator!=(const shared_ptr<_Tp>& __x, nullptr_t) _NOEXCEPT
^
/Users/zml/gepetto-viewer/src/urdf-parser.cpp:154:28: note: built-in candidate operator!=(int, int)
      if ( mesh_shared_ptr != 0 )
                           ^

When I chose to compile the forked project I got another error:

/Users/zml/gepetto-viewer/src/window-manager.cpp:542:12: error: no member named 'get' in 'osg::Matrixd' matrix.get(rot);

jmirabel commented 7 years ago

Replace if ( mesh_shared_ptr != 0 ) by if ( mesh_shared_ptr ) for the first error.

The second error has been fixed in the devel master branch by #56. It will be integrated soon in the master branch. Either try to merge the devel branch or use git cherry-pick to take the commit which fixed the issue.