Build Error

[parthnatekar]

Hi,

I'm trying to build this on Ubuntu 18.04 using ROS Melodic installed via conda.

I'm getting the following build error:

[ 24%] Built target bullet
[ 24%] Building CXX object CMakeFiles/adf_loader.dir/adf_loader/adf_loader_base.cpp.o
In file included from <<PATH>>/envs/ros/include/boost/config/detail/select_stdlib_config.hpp:24:0,
                 from<<PATH>>/envs/ros/include/boost/config.hpp:44,
                 from <<PATH>>/envs/ros/include/boost/filesystem/path.hpp:18,
                 from <<PATH>>/ambf/ambf_framework/afPath.h:48,
                 from <<PATH>>/ambf/ambf_framework/afAttributes.h:49,
                 from <<PATH>>/ambf/adf_loader/adf_loader_base.h:48,
                 from <<PATH>>/ambf/adf_loader/adf_loader_base.cpp:43:
<<PATH>>/ambf/ambf_framework/version:44:1: error: ‘MAJOR’ does not name a type
 MAJOR=2
 ^~~~~
CMakeFiles/adf_loader.dir/build.make:75: recipe for target 'CMakeFiles/adf_loader.dir/adf_loader/adf_loader_base.cpp.o' failed
make[2]: *** [CMakeFiles/adf_loader.dir/adf_loader/adf_loader_base.cpp.o] Error 1
CMakeFiles/Makefile2:876: recipe for target 'CMakeFiles/adf_loader.dir/all' failed
make[1]: *** [CMakeFiles/adf_loader.dir/all] Error 2
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2

[adnanmunawar]

Thanks for reporting the issue. Can you check if renaming the files called version located at ambf/ambf_framework/version and ambf/external/chai3d/src/version to something different, e.g. version_bak resolve this build issue?

[parthnatekar]

Hi,

Thanks for your reply.

Your solution solves the original issue, but I now have a different issue.

<<PATH>>/libroscpp.so: undefined reference to `std::__cxx11::basic_stringstream<char, std::char_traits<char>, std::allocator<char> >::basic_stringstream()@GLIBCXX_3.4.26'
<<PATH>>/librosconsole.so: undefined reference to `std::__cxx11::basic_ostringstream<char, std::char_traits<char>, std::allocator<char> >::basic_ostringstream()@GLIBCXX_3.4.26'
collect2: error: ld returned 1 exit status
ambf_ros_modules/dvrk_arm/CMakeFiles/dvrk_arm_test.dir/build.make:123: recipe for target '../bin/lin-x86_64/dvrk_arm_test' failed
make[2]: *** [../bin/lin-x86_64/dvrk_arm_test] Error 1
CMakeFiles/Makefile2:2808: recipe for target 'ambf_ros_modules/dvrk_arm/CMakeFiles/dvrk_arm_test.dir/all' failed
make[1]: *** [ambf_ros_modules/dvrk_arm/CMakeFiles/dvrk_arm_test.dir/all] Error 2
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2

[adnanmunawar]

Hmm. Can you verify what compiler is being used for compiling AMBF? You can go to AMBF's build folder and run

cmake -LA -N . | grep -i CMAKE_CXX_COMPILER:FILEPATH

to show the result. I am guessing that it would be GCC, in which case, can you print the version by

`cmake -LA -N . | grep -i CMAKE_CXX_COMPILER:FILEPATH | cut -d'=' -f2-` --version

Regardless, the issue seems to be similar to what is explained here. I am afraid that it may not be limited to just "DVRK_ARM" package but other packages in the "ambf_ros_modules" folder as well.

To start, can you try adding this line add_definitions(-D_GLIBCXX_USE_CXX11_ABI=0) in the CMakeLists.txt file of the dvrk_arm package. You can add it to after line 48.

[parthnatekar]

Hi,

cmake -LA -N . | grep -i CMAKE_CXX_COMPILER:FILEPATH gives me

CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ which is simlinked to

/usr/bin/c++ -> /etc/alternatives/c++ which is in turn simlinked to

/etc/alternatives/c++ -> /usr/bin/g++

cmake -LA -N . | grep -i CMAKE_CXX_COMPILER:FILEPATH | cut -d'=' -f2-` --version gives me

c++ (Ubuntu 7.5.0-3ubuntu1~18.04) 7.5.0

I tried the fix you mentioned, but I get the following build error:

../../devel/lib/libdvrk_arm.so: undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
../../devel/lib/libdvrk_arm.so: undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
<<PATH>>/librosconsole.so: undefined reference to `std::__cxx11::basic_ostringstream<char, std::char_traits<char>, std::allocator<char> >::basic_ostringstream()@GLIBCXX_3.4.26'
<<PATH>>/libroscpp.so: undefined reference to `std::__cxx11::basic_stringstream<char, std::char_traits<char>, std::allocator<char> >::basic_stringstream()@GLIBCXX_3.4.26'
../../devel/lib/libdvrk_arm.so: undefined reference to `ros::init(std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&, std::string const&, unsigned int)'
collect2: error: ld returned 1 exit status
ambf_ros_modules/dvrk_arm/CMakeFiles/dvrk_arm_test.dir/build.make:123: recipe for target '../bin/lin-x86_64/dvrk_arm_test' failed
make[2]: *** [../bin/lin-x86_64/dvrk_arm_test] Error 1
CMakeFiles/Makefile2:2808: recipe for target 'ambf_ros_modules/dvrk_arm/CMakeFiles/dvrk_arm_test.dir/all' failed
make[1]: *** [ambf_ros_modules/dvrk_arm/CMakeFiles/dvrk_arm_test.dir/all] Error 2
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2

Which seems to be the same as the earlier error.

[adnanmunawar]

Thanks for trying out the suggestion. We can try out two different things from here.

1. Change the CMAKE_CXX_COMPILER to Clang++ and try to compile. For this option, assumimg that you have clang installed at /usr/bin/clang++. Head to the AMBF build directory.

   cd ambf/build
   cmake -DCMAKE_CXX_COMPILER=/usr/bin/clang++ .
   make

   I am curious to see if this resolves the issue.

2. Alternatively, you can try to update GCC using the instructions here and try to rebuild.

If either of these doesn't work, we can try to set up a zoom / remote session.

[parthnatekar]

Hi,

Both these solutions get rid of the __cxx11 errors but the ros reference errors remain:

../../devel/lib/libdvrk_arm.so: undefined reference to `ros::init(std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&, std::string const&, unsigned int)'
../../devel/lib/libdvrk_arm.so: undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
../../devel/lib/libdvrk_arm.so: undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
clang: error: linker command failed with exit code 1 (use -v to see invocation)
ambf_ros_modules/dvrk_arm/CMakeFiles/dvrk_arm_test.dir/build.make:123: recipe for target '../bin/lin-x86_64/dvrk_arm_test' failed
make[2]: *** [../bin/lin-x86_64/dvrk_arm_test] Error 1
CMakeFiles/Makefile2:2808: recipe for target 'ambf_ros_modules/dvrk_arm/CMakeFiles/dvrk_arm_test.dir/all' failed
make[1]: *** [ambf_ros_modules/dvrk_arm/CMakeFiles/dvrk_arm_test.dir/all] Error 2
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2

A zoom call would be good, how would we go about that?

[adnanmunawar]

That's great. Do you still have the line that I recommended adding in this comment:

To start, can you try adding this line add_definitions(-D_GLIBCXX_USE_CXX11_ABI=0) in the CMakeLists.txt file of the dvrk_arm package. You can add it to after line 48.

If so, can you get rid of it and try to build again?

[parthnatekar]

Hi,

I was able to complete the build this way (albeit with a lot of warnings).

I am closing this for now - thanks for the help!

Just a comment for others who might read through this - I tried on multiple machines and the version file renaming issue came up on all of them. Changing the file name to something else like version_bak solved the issue.

[adnanmunawar]

Glad it was resolved and thanks for the useful information. Let's keep this open for now so that it can be closed with a proper patch.