catkin build でchoreonoidビルドしたら通らない問題

[HiroIshida]

gdbで実行したらこんな感じで, no such file ... typename.c みたいなエラーとおもにセグフォって落ちるので, コンパイルするときにpythonのバージョンをミスっている可能性が高い.

[HiroIshida]

python3.8を強制的に指定したらセグフォらなくなった. (pybind11のバージョンも変えたけど、たぶんこれは関係ない)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 504d56c7..c5f01d7c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -336,7 +336,7 @@ if(ENABLE_PYTHON)
     if(PYBIND11_DIR)
       include_directories(${PYBIND11_DIR}/include)
     else()
-      include_directories(${PROJECT_SOURCE_DIR}/thirdparty/pybind11-2.2.4/include)
+      include_directories(${PROJECT_SOURCE_DIR}/thirdparty/pybind11/include)
     endif()
   else()
     if(NOT USE_PYBIND11 AND USE_PYTHON3)
@@ -348,9 +348,11 @@ if(ENABLE_PYTHON)
   unset(PYTHON_LIBRARY CACHE)
   unset(PYTHON_LIBRARY_DEBUG CACHE)
   if(USE_PYTHON3)
-    set(Python_ADDITIONAL_VERSIONS 3.7 3.6 3.5 3.4)
+    set(Python_ADDITIONAL_VERSIONS 3.8)
     find_package(PythonLibs 3 REQUIRED)
   else()
+    # show error
+    message(FATAL_ERROR "Python 2 is no longer supported.")
     find_package(PythonLibs 2 REQUIRED)
   endif()
   include_directories(${PYTHON_INCLUDE_PATH})

[HiroIshida]

jaxonのデモを実行してみると, jaxonが無限に落下していくので, gui内のログを見ると, cnoid.OpenRTMPluginがないみたい. python3.8向けにはないということ?

Execution of Python script "add_objects.py" has been started.
The execution of Python script "add_objects.py" failed.
ModuleNotFoundError: No module named 'cnoid.OpenRTMPlugin'

確かにない

h-ishida@azarashi:~/catkin_ws/build/choreonoid/lib/choreonoid-1.7/python/cnoid$ tree
.
├── Base.so
├── BodyPlugin.so
├── Body.so
├── __init__.py
├── PoseSeqPlugin.so
├── PythonSimScriptPlugin.so
├── QtCore.so
├── QtGui.so
├── rbimporter.py
└── Util.so

[HiroIshida]

choreonoid単体でもとのやつでbuildするとokなんだけど, stabilizer_configをビルドするとこうなっちゃうんよね.. strace choreonoid 2> log

h-ishida@azarashi:~/catkin_ws/devel/bin$ grep openat log|grep python -i|grep -v such|grep python 
openat(AT_FDCWD, "/lib/x86_64-linux-gnu/libpython3.8.so.1.0", O_RDONLY|O_CLOEXEC) = 38
openat(AT_FDCWD, "/lib/x86_64-linux-gnu/libpython3.9.so.1.0", O_RDONLY|O_CLOEXEC) = 38
openat(AT_FDCWD, "/usr/local/lib/python3.8/site-packages", O_RDONLY|O_NONBLOCK|O_CLOEXEC|O_DIRECTORY) = 41
openat(AT_FDCWD, "/home/h-ishida/catkin_ws/devel/lib/python3/dist-packages", O_RDONLY|O_NONBLOCK|O_CLOEXEC|O_DIRECTORY) = 41
openat(AT_FDCWD, "/opt/ros/noetic/lib/python3/dist-packages", O_RDONLY|O_NONBLOCK|O_CLOEXEC|O_DIRECTORY) = 41

[HiroIshida]

せぐふぉらなくなったけど

[CollisionChecker-31] process has died [pid 524865, exit code -11, cmd /home/h-ishida/catkin_ws/devel/lib/collision_checker_rtc/CollisionCheckerComp -o corba.master_manager:localhost:2810 -o corba.nameservers:localhost:15005 -o naming.formats:%n.rtc -o exec_cxt.periodic.rate:50 -o example.CollisionChecker.config_file:/home/h-ishida/catkin_ws/src/msl_hand_controller/msl_hand_controller/models/JAXON_RED.conf __name:=CollisionChecker __log:=/home/h-ishida/.ros/log/87daad32-3ddf-11ef-8f4c-1d49e960a83c/CollisionChecker-31.log].
log file: /home/h-ishida/.ros/log/87daad32-3ddf-11ef-8f4c-1d49e960a83c/CollisionChecker-31*.log
Traceback (most recent call last):
  File "/home/h-ishida/catkin_ws/src/rtm-ros-robotics/rtmros_common/openrtm_tools/scripts/rtmlaunch.py", line 14, in <module>
    rtmlaunchlib.main()
  File "/home/h-ishida/catkin_ws/src/rtm-ros-robotics/rtmros_common/openrtm_tools/src/openrtm_tools/rtmlaunchlib.py", line 256, in main
    tree.add_name_server(nameserver, [])
  File "/opt/ros/noetic/lib/python3/dist-packages/rtctree/tree.py", line 131, in add_name_server
    self._parse_name_server(server, filter, dynamic=dynamic)
  File "/opt/ros/noetic/lib/python3/dist-packages/rtctree/tree.py", line 284, in _parse_name_server
    new_ns_node = NameServer(self._orb, address, self._root,
  File "/opt/ros/noetic/lib/python3/dist-packages/rtctree/nameserver.py", line 54, in __init__
    self._parse_server(address, orb, filter)
  File "/opt/ros/noetic/lib/python3/dist-packages/rtctree/nameserver.py", line 79, in _parse_server
    self._parse_context(root_context, orb, filter)
  File "/opt/ros/noetic/lib/python3/dist-packages/rtctree/directory.py", line 111, in _parse_context
    self._process_binding(binding, orb, filter)
  File "/opt/ros/noetic/lib/python3/dist-packages/rtctree/directory.py", line 189, in _process_binding
    subdir._parse_context(subdir_context, orb,
  File "/opt/ros/noetic/lib/python3/dist-packages/rtctree/directory.py", line 111, in _parse_context
    self._process_binding(binding, orb, filter)
  File "/opt/ros/noetic/lib/python3/dist-packages/rtctree/directory.py", line 142, in _process_binding
    leaf = Manager(name, self, obj, dynamic=self.dynamic)
  File "/opt/ros/noetic/lib/python3/dist-packages/rtctree/manager.py", line 55, in __init__
    self._parse()
  File "/opt/ros/noetic/lib/python3/dist-packages/rtctree/manager.py", line 318, in _parse
    self._parse_children()
  File "/opt/ros/noetic/lib/python3/dist-packages/rtctree/manager.py", line 323, in _parse_children
    self._parse_component_children()
  File "/opt/ros/noetic/lib/python3/dist-packages/rtctree/manager.py", line 337, in _parse_component_children
    profile = c.get_component_profile()
  File "/opt/ros/noetic/lib/python3/dist-packages/rtctree/rtmidl/RTC_idl.py", line 1321, in get_component_profile
    return self._obj.invoke("get_component_profile", _0_RTC.RTObject._d_get_component_profile, args)
omniORB.CORBA.COMM_FAILURE: CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE)

[rtmlaunch_hrpsys-41] process has died [pid 525025, exit code 1, cmd /home/h-ishida/catkin_ws/src/rtm-ros-robotics/rtmros_common/openrtm_tools/scripts/rtmlaunch.py /home/h-ishida/catkin_ws/src/auto_stabilizer_config/auto_stabilizer_config/launch/hrpsys.launch __name:=rtmlaunch_hrpsys __log:=/home/h-ishida/.ros/log/87daad32-3ddf-11ef-8f4c-1d49e960a83c/rtmlaunch_hrpsys-41.log].
log file: /home/h-ishida/.ros/log/87daad32-3ddf-11ef-8f4c-1d49e960a83c/rtmlaunch_hrpsys-41*.log

[HiroIshida]

ちゃんと, SOURCE_SCRIPT=":" してやりなおしたらいけたんだけど, 最後のroslaunchすると急にjaxonが倒れてしまう