Dependency files needed change to void compiling error

[gaolongsen]

Dear Deepmind Team, after I cmake the project, I found some issues when I tried to use this lib on my Ubuntu20 system. I ask someone to do the same test and the problem are the same. So I would like to let you know and make some changes for that:

1. mujoco_mpc/cmake/MpcOptions.cmake and /home/wam/mujoco_mpc/_deps/mujoco-build/CMakeFiles/mujoco.dir/flags.make I think you should remove all -Werror to make sure that even though some warring occurred, users can also compile the project.
2. mujoco_mpc/mjpc/agent.cc add (struct mjuiDef_) in line 366, line 386 and line 389 to make sure that no errors occur during the assignment of structure variables.

[saran-t]

If you get an error from the -Werror then it usually indicates that there's a real issue with the code that needs to be fixed. Can you tell us what the error is?

[gaolongsen]

Hi Saran, Thanks for your response! Here is after I remove the -Werror, the terminal shows related errors for your examples code. /usr/bin/ld: CMakeFiles/example.dir/test/example.o: in functiontest_compress': example.c:(.text.test_compress+0x71): undefined reference to compress' /usr/bin/ld: example.c:(.text.test_compress+0x96): undefined reference touncompress' /usr/bin/ld: CMakeFiles/example.dir/test/example.o: in function test_gzio': example.c:(.text.test_gzio+0x78): undefined reference togzopen' /usr/bin/ld: example.c:(.text.test_gzio+0x91): undefined reference to gzputc' /usr/bin/ld: example.c:(.text.test_gzio+0xa0): undefined reference togzputs' /usr/bin/ld: example.c:(.text.test_gzio+0xc1): undefined reference to gzprintf' /usr/bin/ld: example.c:(.text.test_gzio+0xdc): undefined reference togzseek' /usr/bin/ld: example.c:(.text.test_gzio+0xe4): undefined reference to gzclose' /usr/bin/ld: example.c:(.text.test_gzio+0xf3): undefined reference togzopen' /usr/bin/ld: example.c:(.text.test_gzio+0x11b): undefined reference to gzread' /usr/bin/ld: example.c:(.text.test_gzio+0x164): undefined reference togzseek' /usr/bin/ld: example.c:(.text.test_gzio+0x179): undefined reference to gztell' /usr/bin/ld: example.c:(.text.test_gzio+0x1c0): undefined reference togzungetc' /usr/bin/ld: example.c:(.text.test_gzio+0x1d7): undefined reference to gzgets' /usr/bin/ld: example.c:(.text.test_gzio+0x21e): undefined reference togzclose' /usr/bin/ld: example.c:(.text.test_gzio+0x244): undefined reference to gzgetc' /usr/bin/ld: example.c:(.text.test_gzio+0x257): undefined reference togztell' /usr/bin/ld: example.c:(.text.test_gzio+0x2b7): undefined reference to gzerror' /usr/bin/ld: example.c:(.text.test_gzio+0x2eb): undefined reference togzerror' /usr/bin/ld: example.c:(.text.test_gzio+0x325): undefined reference to gzerror' /usr/bin/ld: example.c:(.text.test_gzio+0x34a): undefined reference togzerror' /usr/bin/ld: CMakeFiles/example.dir/test/example.o: in function test_deflate': example.c:(.text.test_deflate+0x98): undefined reference todeflateInit_' /usr/bin/ld: example.c:(.text.test_deflate+0xcd): undefined reference to deflate' /usr/bin/ld: example.c:(.text.test_deflate+0xf5): undefined reference todeflate' /usr/bin/ld: example.c:(.text.test_deflate+0x102): undefined reference to deflateEnd' /usr/bin/ld: CMakeFiles/example.dir/test/example.o: in functiontest_inflate': example.c:(.text.testinflate+0x6d): undefined reference to `inflateInit' /usr/bin/ld: example.c:(.text.test_inflate+0x9d): undefined reference to inflate' /usr/bin/ld: example.c:(.text.test_inflate+0xb5): undefined reference toinflateEnd' /usr/bin/ld: CMakeFiles/example.dir/test/example.o: in function test_large_deflate': example.c:(.text.test_large_deflate+0x56): undefined reference todeflateInit_' /usr/bin/ld: example.c:(.text.test_large_deflate+0x7a): undefined reference to deflate' /usr/bin/ld: example.c:(.text.test_large_deflate+0x9c): undefined reference todeflateParams' /usr/bin/ld: example.c:(.text.test_large_deflate+0xae): undefined reference to deflate' /usr/bin/ld: example.c:(.text.test_large_deflate+0xc4): undefined reference todeflateParams' /usr/bin/ld: example.c:(.text.test_large_deflate+0xd7): undefined reference to deflate' /usr/bin/ld: example.c:(.text.test_large_deflate+0xe8): undefined reference todeflate' /usr/bin/ld: example.c:(.text.test_large_deflate+0xf5): undefined reference to deflateEnd' /usr/bin/ld: CMakeFiles/example.dir/test/example.o: in functiontest_large_inflate': example.c:(.text.test_largeinflate+0x63): undefined reference to `inflateInit' /usr/bin/ld: example.c:(.text.test_large_inflate+0x8b): undefined reference to inflate' /usr/bin/ld: example.c:(.text.test_large_inflate+0x98): undefined reference toinflateEnd' /usr/bin/ld: CMakeFiles/example.dir/test/example.o: in function test_flush': example.c:(.text.test_flush+0x95): undefined reference todeflateInit_' /usr/bin/ld: example.c:(.text.test_flush+0xc3): undefined reference to deflate' /usr/bin/ld: example.c:(.text.test_flush+0xdf): undefined reference todeflate' /usr/bin/ld: example.c:(.text.test_flush+0xec): undefined reference to deflateEnd' /usr/bin/ld: CMakeFiles/example.dir/test/example.o: in functiontest_sync': example.c:(.text.testsync+0x68): undefined reference to `inflateInit' /usr/bin/ld: example.c:(.text.test_sync+0x84): undefined reference to inflate' /usr/bin/ld: example.c:(.text.test_sync+0x9b): undefined reference toinflateSync' /usr/bin/ld: example.c:(.text.test_sync+0xb0): undefined reference to inflate' /usr/bin/ld: example.c:(.text.test_sync+0xbd): undefined reference toinflateEnd' /usr/bin/ld: CMakeFiles/example.dir/test/example.o: in function test_dict_deflate': example.c:(.text.test_dict_deflate+0x4c): undefined reference todeflateInit_' /usr/bin/ld: example.c:(.text.test_dict_deflate+0x68): undefined reference to deflateSetDictionary' /usr/bin/ld: example.c:(.text.test_dict_deflate+0xe0): undefined reference todeflate' /usr/bin/ld: example.c:(.text.test_dict_deflate+0xed): undefined reference to deflateEnd' /usr/bin/ld: CMakeFiles/example.dir/test/example.o: in functiontest_dict_inflate': example.c:(.text.test_dictinflate+0x5c): undefined reference to `inflateInit' /usr/bin/ld: example.c:(.text.test_dict_inflate+0x8e): undefined reference to inflate' /usr/bin/ld: example.c:(.text.test_dict_inflate+0xba): undefined reference toinflateSetDictionary' /usr/bin/ld: example.c:(.text.test_dict_inflate+0xc4): undefined reference to inflateEnd' /usr/bin/ld: CMakeFiles/example.dir/test/example.o: in functionmain': example.c:(.text.startup.main+0x2e): undefined reference to zlibVersion' /usr/bin/ld: example.c:(.text.startup.main+0x3c): undefined reference tozlibVersion' /usr/bin/ld: example.c:(.text.startup.main+0x5f): undefined reference to zlibCompileFlags' /usr/bin/ld: example.c:(.text.startup.main+0x1ad): undefined reference tozlibVersion' collect2: error: ld returned 1 exit status make[2]: [_deps/grpc-build/third_party/zlib/CMakeFiles/example.dir/build.make:85: bin/example] Error 1 make[1]: [CMakeFiles/Makefile2:10758: _deps/grpc-build/third_party/zlib/CMakeFiles/example.dir/all] Error 2`

I tried to compile the whole project with the -Werror but didn't remember clearly because it would block the compiling process for each warning. You can have a try and then do a test. Thanks for your time!

[gaolongsen]

But so weird after I cmake . and cmake --build . again, no error occurred as I listed above.

[saran-t]

You're somehow building tests from gRPC... those aren't coming from this repo's code.

[nimrod-gileadi]

The CMake config for the project is in a bit of an odd state, and trying to build all targets does fail with weird errors.

For now, can you run the build command with --target mjpc, or potentially the full list of targets here?

[erwincoumans]

Same issue here, on Mac M1. The target mjpc compiles and runs fine, so it seems harmless.

erwincoumans@Erwins-MBP mujoco_mpc % make
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[100%] Linking C executable ../../../../bin/example
Undefined symbols for architecture arm64:
  "_compress", referenced from:
      _test_compress in example.o
     (maybe you meant: _test_compress)
  "_deflate", referenced from:
      _test_deflate in example.o
      _test_large_deflate in example.o
      _test_flush in example.o
      _test_dict_deflate in example.o
     (maybe you meant: _test_large_deflate, _test_deflate , _test_dict_deflate )
  "_deflateEnd", referenced from:
      _test_deflate in example.o
      _test_large_deflate in example.o
      _test_flush in example.o
      _test_dict_deflate in example.o
  "_deflateInit_", referenced from:
      _test_deflate in example.o
      _test_large_deflate in example.o
      _test_flush in example.o
      _test_dict_deflate in example.o
  "_deflateParams", referenced from:
      _test_large_deflate in example.o
  "_deflateSetDictionary", referenced from:
      _test_dict_deflate in example.o
  "_gzclose", referenced from:
      _test_gzio in example.o
  "_gzerror", referenced from:
      _test_gzio in example.o
  "_gzgetc", referenced from:
      _test_gzio in example.o
  "_gzgets", referenced from:
      _test_gzio in example.o
  "_gzopen", referenced from:
      _test_gzio in example.o
  "_gzprintf", referenced from:
      _test_gzio in example.o
  "_gzputc", referenced from:
      _test_gzio in example.o
  "_gzputs", referenced from:
      _test_gzio in example.o
  "_gzread", referenced from:
      _test_gzio in example.o
  "_gzseek", referenced from:
      _test_gzio in example.o
  "_gztell", referenced from:
      _test_gzio in example.o
  "_gzungetc", referenced from:
      _test_gzio in example.o
  "_inflate", referenced from:
      _test_inflate in example.o
      _test_large_inflate in example.o
      _test_sync in example.o
      _test_dict_inflate in example.o
     (maybe you meant: _test_large_inflate, _test_inflate , _test_dict_inflate )
  "_inflateEnd", referenced from:
      _test_inflate in example.o
      _test_large_inflate in example.o
      _test_sync in example.o
      _test_dict_inflate in example.o
  "_inflateInit_", referenced from:
      _test_inflate in example.o
      _test_large_inflate in example.o
      _test_sync in example.o
      _test_dict_inflate in example.o
  "_inflateSetDictionary", referenced from:
      _test_dict_inflate in example.o
  "_inflateSync", referenced from:
      _test_sync in example.o
  "_uncompress", referenced from:
      _test_compress in example.o
  "_zlibCompileFlags", referenced from:
      _main in example.o
  "_zlibVersion", referenced from:
      _main in example.o
ld: symbol(s) not found for architecture arm64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [bin/example] Error 1
make[1]: *** [_deps/grpc-build/third_party/zlib/CMakeFiles/example.dir/all] Error 2
make: *** [all] Error 2