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lauramsmith / fine-tuning-locomotion

Apache License 2.0
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Cannot build robot interface #2

Open dtch1997 opened 2 years ago

dtch1997 commented 2 years ago

Hello, thanks for the great work done here!

When attempting Step 1: Build and Test the robot interface as follows: 

cd third_party/unitree_legged_sdk
mkdir build
cd build
cmake ..
make

I run into the following error on the last line: 

$ make
[ 50%] Linking CXX shared module robot_interface.cpython-37m-x86_64-linux-gnu.so
/usr/bin/ld: cannot find -lunitree_legged_sdk_amd64
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/robot_interface.dir/build.make:84: robot_interface.cpython-37m-x86_64-linux-gnu.so] Error 1
make[1]: *** [CMakeFiles/Makefile2:96: CMakeFiles/robot_interface.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

It looks like the linker can't find the Unitree Legged SDK binaries. I was able to build that (using v3.3.1 as suggested in their README) but I'm unsure exactly what I need to do to get it working together with this codebase. Any help is appreciated! Thanks again.

dtch1997 commented 2 years ago

I was able to resolve this by creating directory third_party/unitree_legged_sdk/lib and manually inserting the compiled unitree SDK binaries from here: https://github.com/unitreerobotics/unitree_legged_sdk/tree/master/lib