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NVlabs / curobo

CUDA Accelerated Robot Library
https://curobo.org
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Installation problems for building with nvblox #235

Closed wuyingnan closed 6 months ago

wuyingnan commented 7 months ago

I am installing curobo with nvblox following the documents. (https://curobo.org/get_started/1_install_instructions.html#installing-nvblox-for-precxx11-abi-and-isaac-sim)

I got two problems following the installing procedure.

  1. Step 7 install nvblox. The command is cd ${PKGS_PATH} && git clone https://github.com/valtsblukis/nvblox.git && cd ${PKGS_PATH}/nvblox/nvblox mkdir build && cd build && \ cmake .. -DBUILD_REDISTRIBUTABLE=ON \ -DCMAKE_CXX_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=0 -DPRE_CXX11_ABI_LINKABLE=ON \ -DSQLITE3_BASE_PATH="${PKGS_PATH}/sqlite/install/" -DGLOG_BASE_PATH="${PKGS_PATH}/glog/install/" \ -DGFLAGS_BASE_PATH="${PKGS_PATH}/gflags/install/" -DCMAKE_CUDA_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=0 && \ make -j32 && \ sudo make install There is a "&&" missing between "cd ${PKGS_PATH}/nvblox/nvblox" and "mkdir build"
  2. Glog is compiled as static, while it links against a system library "libunwind.so". In nvblox linking procedure, the linker will complain that it cannot find some functions. I had to manually add libunwind.so into GLOG_LIBRARIES in nvblox CMakeLists.txt.
balakumar-s commented 7 months ago

Thanks for letting us know! After doing these fixes, are you able to use nvblox?

wuyingnan commented 6 months ago

Yes. I have run the nvblox collision checker demo.