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golems / amino

Lightweight robotics utility library
http://amino.golems.org
BSD 3-Clause "New" or "Revised" License
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Could not Compile with OMPL (Missing Eigen soln doesn't work) #32

Open TemG-Kristos opened 4 years ago

TemG-Kristos commented 4 years ago

I am trying to install Amino (before installing tmkit) on a Docker container that uses Ubuntu 18.04. When I try to run ./configure, I get the following:

checking bundled TypedSpaceInformation.h... no checking compat TypedSpaceInformation.h using boost::shared_ptr... no checking compat TypedSpaceInformation.h using std::shared_ptr... no configure: error: Could not compile with OMPL TypedSpaceInformation

According to my config.log file (attached blow), the issue seems to be the Missing Eigen Dependency. I tried the Missing Eigen Dependency fix from the Amino Install page, but I still get the same error. Is there another way to resolve this issue when the recommended fix fails?

config.log

ndantam commented 4 years ago

Sounds like issue with the pkg-config file for some versions of OMPL missing the Eigen dependency. From the INSTALL file:

OMPL Missing Eigen dependency

Version 1.4.2 of OMPL and the corresponding Debian/Ubuntu packages are missing a required dependency on libeigen. To resolve, you may need to do the following:

  1. Manually install libeigen:

    sudo apt-get install libeigen3-dev

  2. Manually add the eigen include directory to the ompl pkg-config file. The ompl pkg-config file will typically be in /usr/lib/x86_64-linux-gnu/pkgconfig/ompl.pc. The eigen include path will typically be /usr/include/eigen3. Thus, you may change the Cflags entry in /usr/lib/x86_64-linux-gnu/pkgconfig/ompl.pc to:

    Cflags: -I${includedir} -I/usr/include/eigen3

From your config.log, it looks like some packages are installed via ROS. Please check where libeigen is installed and ensure that the pkg-config file for Eigen / OMPL match those paths.