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Tsinghua-MARS-Lab / unitree_ros_real

The ROS package that runs on unitree machine and publish all interface to ROS network
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error 'cannot find -lunitree_legged_sdk' on go1 branch #1

Closed DaojiePENG closed 11 months ago

DaojiePENG commented 12 months ago

When I try to catkin build the project-go1 branch, it rises an error 'cannot find -lunitree_legged_sdk'

...
Starting  >>> unitree_legged_real                                              
_______________________________________________________________________________
Errors     << unitree_legged_real:make /home/pdj/parkour_ros_real/logs/unitree_legged_real/build.make.001.log
/usr/bin/ld: cannot find -lunitree_legged_sdk
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/unitree_ros.dir/build.make:107: /home/pdj/parkour_ros_real/devel/.private/unitree_legged_real/lib/libunitree_ros.so] Error 1
make[1]: *** [CMakeFiles/Makefile2:1330: CMakeFiles/unitree_ros.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [Makefile:141: all] Error 2
cd /home/pdj/parkour_ros_real/build/unitree_legged_real; catkin build --get-env unitree_legged_real | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

...............................................................................
Failed     << unitree_legged_real:make           [ Exited with code 2 ]        
Failed    <<< unitree_legged_real                [ 0.3 seconds ]    
...

I have coupied the unitree_legged_sdk to the src directory. How can I solve this problem? Thanks!

ZiwenZhuang commented 12 months ago

Hi,

Did you compile the SDK on Nvidia Jetson? or any onboard machine? I did experience some issues on my x86 laptop. But everything goes well on the Jetson board.

Due to the library changes of Unitree SDK, I cannot create a shared library based on ros_udp_node.cpp on the x86 machine.

It would be better to compile this ROS package directly on Nvidia Jetson.

For more detail information, you can check line 41 and line 56 on unitree_ros_real/unitree_legged_real/CMakeLists.txt

Also, I used catkin_make on ROS1. Maybe ROS version could also lead to problems.

Best,