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Asynchronous Multi-Body Framework
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Build fails in ambf-2.0 branch #185

Closed melodysu83 closed 2 years ago

melodysu83 commented 2 years ago

Hi Adnan, We're recently trying to migrate our commits to the AMBF-2.0 branch but are having trouble building the new code. Here is the cmake output: (which went well without error)

-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libGL.so  
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   filesystem
--   system
-- Using CATKIN_DEVEL_PREFIX: /home/melody/ambf-new/AMBF-WPI/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.12", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/melody/ambf-new/AMBF-WPI/build/test_results
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.12") 
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- *** FOUND ROS ON THIS MACHINE, ENABLING SUPPORT FOR AMBF_ROS MODULES
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- ambf_msgs: 16 messages, 0 services
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning (dev) at external/tf_function/CMakeLists.txt:2 (project):
  Policy CMP0048 is not set: project() command manages VERSION variables.
  Run "cmake --help-policy CMP0048" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  The following variable(s) would be set to empty:

    PROJECT_VERSION
This warning is for project developers.  Use -Wno-dev to suppress it.

-- -- *** FOUND AMBF_COMM, AMBF_MSGS, AMBF_CLIENT and DVRK_ARM, ENABLING DVRK DEVICE SUPPORT
-- -- *** FOUND OPENCV
-- -- *** FOUND ROS_CV_BRIDGE and IMAGE_TRANSPORT, ENABLING VIDEO PUBLISHING SUPPORT
-- -- *** RAZER HYDRA'S ROS PACKAGE NOT FOUND
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   program_options
-- Configuring done
-- Generating done
-- Build files have been written to: /home/melody/ambf-new/AMBF-WPI/build

But then when I try: make .. , a few errors occurred.

[ 12%] Building CXX object CMakeFiles/ambf_framework.dir/ambf_framework/afUtils.cpp.o
/home/melody/ambf-new/AMBF-WPI/ambf_framework/afUtils.cpp:63:107: error: specialization of ‘template<class T1, class T2> static T1 ambf::afUtils::getRotBetweenVectors(const T2&, const T2&)’ in different namespace [-fpermissive]
 cQuaternion afUtils::getRotBetweenVectors<cQuaternion, cVector3d>(const cVector3d &v1, const cVector3d &v2){
                                                                                                           ^
In file included from /home/melody/ambf-new/AMBF-WPI/ambf_framework/afUtils.cpp:43:0:
/home/melody/ambf-new/AMBF-WPI/ambf_framework/afUtils.h:66:15: error:   from definition of ‘template<class T1, class T2> static T1 ambf::afUtils::getRotBetweenVectors(const T2&, const T2&)’ [-fpermissive]
     static T1 getRotBetweenVectors(const T2 &v1, const T2 &v2);
               ^
/home/melody/ambf-new/AMBF-WPI/ambf_framework/afUtils.cpp:98:103: error: specialization of ‘template<class T1, class T2> static T1 ambf::afUtils::getRotBetweenVectors(const T2&, const T2&)’ in different namespace [-fpermissive]
 cMatrix3d afUtils::getRotBetweenVectors<cMatrix3d, cVector3d>(const cVector3d &v1, const cVector3d &v2){
                                                                                                       ^
In file included from /home/melody/ambf-new/AMBF-WPI/ambf_framework/afUtils.cpp:43:0:
/home/melody/ambf-new/AMBF-WPI/ambf_framework/afUtils.h:66:15: error:   from definition of ‘template<class T1, class T2> static T1 ambf::afUtils::getRotBetweenVectors(const T2&, const T2&)’ [-fpermissive]
     static T1 getRotBetweenVectors(const T2 &v1, const T2 &v2);
               ^
/home/melody/ambf-new/AMBF-WPI/ambf_framework/afUtils.cpp:113:109: error: specialization of ‘template<class T1, class T2> static T1 ambf::afUtils::getRotBetweenVectors(const T2&, const T2&)’ in different namespace [-fpermissive]
 btQuaternion afUtils::getRotBetweenVectors<btQuaternion, btVector3>(const btVector3 &v1, const btVector3 &v2){
                                                                                                             ^
In file included from /home/melody/ambf-new/AMBF-WPI/ambf_framework/afUtils.cpp:43:0:
/home/melody/ambf-new/AMBF-WPI/ambf_framework/afUtils.h:66:15: error:   from definition of ‘template<class T1, class T2> static T1 ambf::afUtils::getRotBetweenVectors(const T2&, const T2&)’ [-fpermissive]
     static T1 getRotBetweenVectors(const T2 &v1, const T2 &v2);
               ^
/home/melody/ambf-new/AMBF-WPI/ambf_framework/afUtils.cpp:132:107: error: specialization of ‘template<class T1, class T2> static T1 ambf::afUtils::getRotBetweenVectors(const T2&, const T2&)’ in different namespace [-fpermissive]
 btMatrix3x3 afUtils::getRotBetweenVectors<btMatrix3x3, btVector3>(const btVector3 &v1, const btVector3 &v2){
                                                                                                           ^
In file included from /home/melody/ambf-new/AMBF-WPI/ambf_framework/afUtils.cpp:43:0:
/home/melody/ambf-new/AMBF-WPI/ambf_framework/afUtils.h:66:15: error:   from definition of ‘template<class T1, class T2> static T1 ambf::afUtils::getRotBetweenVectors(const T2&, const T2&)’ [-fpermissive]
     static T1 getRotBetweenVectors(const T2 &v1, const T2 &v2);
               ^
CMakeFiles/ambf_framework.dir/build.make:62: recipe for target 'CMakeFiles/ambf_framework.dir/ambf_framework/afUtils.cpp.o' failed
make[2]: *** [CMakeFiles/ambf_framework.dir/ambf_framework/afUtils.cpp.o] Error 1
CMakeFiles/Makefile2:96: recipe for target 'CMakeFiles/ambf_framework.dir/all' failed
make[1]: *** [CMakeFiles/ambf_framework.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2

I am suspecting it having to do with the compiler C++ version (according to stackOverflow post here), but am not sure where to fix it. Do you have any insights? Thanks!

adnanmunawar commented 2 years ago

Hi Melody,

Thanks for posting the details of the issue. Are you using Ubuntu 18.04?

Regardless, can you try out the suggestions from this comment which is from another issue but may be relevant.

melodysu83 commented 2 years ago

Thanks Adnan! The ambf-2.0 branch now builds after the GCC version update. For anyone that has a similar issue, I updated the GCC version by running these commands in a terminal:

Check my current gcc, g++ version: (mine was a 5.4)

gcc --version
g++ --version

Install the gcc-7 packages:

sudo apt-get install -y software-properties-common
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install g++-7 -y

Set it up so the symbolic links gcc, g++ point to the newer version:

sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 60 \
                         --slave /usr/bin/g++ g++ /usr/bin/g++-7 
sudo update-alternatives --config gcc
gcc --version
g++ --version

The gcc/g++ version should both now be updated to a 7.X. (in my case, 7.5)

adnanmunawar commented 2 years ago

Glad to hear that and thanks for the detailed info :).