build fail on run_all_tests

[M-A-Robson]

Cannot build libfranka from source to work with the latest hardware update.

Linux 16.04 LTS

I follow the instructions here: https://frankaemika.github.io/docs/installation_linux.html

get to: cmake --build .

but receive the following errors about 50% of the way through build:

Linking CXX executable run_all_tests CMakeFiles/run_all_tests.dir/mock_server.cpp.o: In function MockServer<RobotTypes>::serverThread()': mock_server.cpp:(.text._ZN10MockServerI10RobotTypesE12serverThreadEv[_ZN10MockServerI10RobotTypesE12serverThreadEv]+0x84): undefined reference toPoco::Net::SocketAddress::SocketAddress(std::string const&, unsigned short)' mock_server.cpp:(.text._ZN10MockServerI10RobotTypesE12serverThreadEv[_ZN10MockServerI10RobotTypesE12serverThreadEv]+0x443): undefined reference to Poco::Net::SocketAddress::SocketAddress(std::string const&, unsigned short)' CMakeFiles/run_all_tests.dir/mock_server.cpp.o: In functionMockServer::serverThread()': mock_server.cpp:(.text._ZN10MockServerI12GripperTypesE12serverThreadEv[_ZN10MockServerI12GripperTypesE12serverThreadEv]+0x87): undefined reference to Poco::Net::SocketAddress::SocketAddress(std::string const&, unsigned short)' mock_server.cpp:(.text._ZN10MockServerI12GripperTypesE12serverThreadEv[_ZN10MockServerI12GripperTypesE12serverThreadEv]+0x439): undefined reference toPoco::Net::SocketAddress::SocketAddress(std::string const&, unsigned short)' CMakeFiles/run_all_tests.dir/mock_server.cpp.o: In function MockServer<VacuumGripperTypes>::serverThread()': mock_server.cpp:(.text._ZN10MockServerI18VacuumGripperTypesE12serverThreadEv[_ZN10MockServerI18VacuumGripperTypesE12serverThreadEv]+0x87): undefined reference toPoco::Net::SocketAddress::SocketAddress(std::string const&, unsigned short)' CMakeFiles/run_all_tests.dir/mock_server.cpp.o:mock_server.cpp:(.text._ZN10MockServerI18VacuumGripperTypesE12serverThreadEv[_ZN10MockServerI18VacuumGripperTypesE12serverThreadEv]+0x439): more undefined references to Poco::Net::SocketAddress::SocketAddress(std::string const&, unsigned short)' follow ../libfranka.so.0.8.0: undefined reference toPoco::SharedLibrary::suffix()' ../libfranka.so.0.8.0: undefined reference to Poco::File::File(std::string const&)' ../libfranka.so.0.8.0: undefined reference toPoco::TemporaryFile::registerForDeletion(std::string const&)' ../libfranka.so.0.8.0: undefined reference to Poco::SharedLibrary::getSymbol(std::string const&)' ../libfranka.so.0.8.0: undefined reference toPoco::SharedLibrary::load(std::string const&)' ../libfranka.so.0.8.0: undefined reference to `Poco::TemporaryFile::tempName()' collect2: error: ld returned 1 exit status test/CMakeFiles/run_all_tests.dir/build.make:569: recipe for target 'test/run_all_tests' failed make[2]: [test/run_all_tests] Error 1 CMakeFiles/Makefile2:150: recipe for target 'test/CMakeFiles/run_all_tests.dir/all' failed make[1]: [test/CMakeFiles/run_all_tests.dir/all] Error 2 Makefile:160: recipe for target 'all' failed make: *** [all] Error 2

I've tried updating my compiler, and manually installing POCO libs with ive also done $ sudo apt-get install libpoco-doc libpoco-dev but no luck. install works from apt-get ros-kinetic-libfranka but this is version 0.7.0 which is not compatible with the latest update on the robot and so is throwing errors when trying to connect through ROS.

[sgabl]

Hi,

in general, you can deactivate building the tests. (cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF ..) However, this is not the issue you have. Could you check if Poco is found (e.g. use ccmake . in your build folder).

Travis has no problem building libfranka 0.8.0 on 16.04.

[M-A-Robson]

I found that i was able to make the build work by building and installing POCO from source after reading that you may want to compile POCO and your c++ project using the same compiler.

I followed the instructions here: https://pocoproject.org/download.html