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mayataka / hpipm-cpp

C++ interface for hpipm, a high-performance interior point MPC solver
MIT License
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Library loading error in test #10

Closed mmurooka closed 1 year ago

mmurooka commented 1 year ago

Thank you for the useful library.

I get the following error about loading the shared library when I build with tests and run them.

$ git clone https://github.com/mayataka/hpipm-cpp
$ cd hpipm-cpp
$ mkdir build && cd build
$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=${HOME}/src/install -DBUILD_TESTS=ON
$ make -j4
$ make install
$ cd test
$ ./test/ocp_qp_ipm_solver
./test/ocp_qp_ipm_solver: error while loading shared libraries: libblasfeo.so: cannot open shared object file: No such file or directory
$ ldd ./test/ocp_qp_ipm_solver
    linux-vdso.so.1 (0x00007ffed818f000)
    libgtk3-nocsd.so.0 => /usr/lib/x86_64-linux-gnu/libgtk3-nocsd.so.0 (0x00007f8bbb317000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f8bbb0f8000)
    libhpipm.so => /home/mmurooka/src/hpipm-cpp/external/hpipm-install/lib/libhpipm.so (0x00007f8bbadbc000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f8bbaa33000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f8bba695000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f8bba47d000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f8bba08c000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f8bb9e88000)
    /lib64/ld-linux-x86-64.so.2 (0x00007f8bbb812000)
    libblasfeo.so => not found

I set ${HOME}/src/install for CMAKE_INSTALL_PREFIX, and ${HOME}/src/install/lib is included in LD_LIBRARY_PATH. If I manually add ${HOME}/src/install/lib/hpipm-cpp to LD_LIBRARY_PATH, this library loading error does not happen, but I feel that it is not so general to impose this on all users. Is there a general solution by modifying CMakeLists.txt?

For reference, I attach the build/install_manifest.txt file. install_manifest.txt

With the option -DBUILD_SHARED_LIBS=ON, I get the similar error.

mayataka commented 1 year ago

I intend to run tests without install like this:

cmake .. -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTS=ON
make -j6
ctest --output-on-failure -j

Does this work well?

mmurooka commented 1 year ago

No, I get the same error.

$ ctest --output-on-failure -j
Test project /home/mmurooka/src/hpipm-cpp/build
    Start 1: d_ocp_qp_dim_wrapper
1/6 Test #1: d_ocp_qp_dim_wrapper .............***Failed    0.00 sec
/home/mmurooka/src/hpipm-cpp/build/test/d_ocp_qp_dim_wrapper: error while loading shared libraries: libblasfeo.so: cannot open shared object file: No such file or directory

    Start 2: d_ocp_qp_sol_wrapper
2/6 Test #2: d_ocp_qp_sol_wrapper .............***Failed    0.00 sec
/home/mmurooka/src/hpipm-cpp/build/test/d_ocp_qp_sol_wrapper: error while loading shared libraries: libblasfeo.so: cannot open shared object file: No such file or directory

    Start 3: d_ocp_qp_wrapper
3/6 Test #3: d_ocp_qp_wrapper .................***Failed    0.00 sec
/home/mmurooka/src/hpipm-cpp/build/test/d_ocp_qp_wrapper: error while loading shared libraries: libblasfeo.so: cannot open shared object file: No such file or directory

    Start 4: d_ocp_qp_ipm_arg_wrapper
4/6 Test #4: d_ocp_qp_ipm_arg_wrapper .........***Failed    0.00 sec
/home/mmurooka/src/hpipm-cpp/build/test/d_ocp_qp_ipm_arg_wrapper: error while loading shared libraries: libblasfeo.so: cannot open shared object file: No such file or directory

    Start 5: d_ocp_qp_ipm_ws_wrapper
5/6 Test #5: d_ocp_qp_ipm_ws_wrapper ..........***Failed    0.00 sec
/home/mmurooka/src/hpipm-cpp/build/test/d_ocp_qp_ipm_ws_wrapper: error while loading shared libraries: libblasfeo.so: cannot open shared object file: No such file or directory

    Start 6: ocp_qp_ipm_solver
6/6 Test #6: ocp_qp_ipm_solver ................***Failed    0.00 sec
/home/mmurooka/src/hpipm-cpp/build/test/ocp_qp_ipm_solver: error while loading shared libraries: libblasfeo.so: cannot open shared object file: No such file or directory

0% tests passed, 6 tests failed out of 6

Total Test time (real) =   0.02 sec

The following tests FAILED:
      1 - d_ocp_qp_dim_wrapper (Failed)
      2 - d_ocp_qp_sol_wrapper (Failed)
      3 - d_ocp_qp_wrapper (Failed)
      4 - d_ocp_qp_ipm_arg_wrapper (Failed)
      5 - d_ocp_qp_ipm_ws_wrapper (Failed)
      6 - ocp_qp_ipm_solver (Failed)
Errors while running CTest

$ ldd test/d_ocp_qp_dim_wrapper
    linux-vdso.so.1 (0x00007ffc511c8000)
    libgtk3-nocsd.so.0 => /usr/lib/x86_64-linux-gnu/libgtk3-nocsd.so.0 (0x00007f0d522fe000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f0d520df000)
    libhpipm.so => /home/mmurooka/src/hpipm-cpp/external/hpipm-install/lib/libhpipm.so (0x00007f0d51da3000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f0d51a1a000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f0d5167c000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f0d51464000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f0d51073000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f0d50e6f000)
    /lib64/ld-linux-x86-64.so.2 (0x00007f0d5279f000)
    libblasfeo.so => not found
mayataka commented 1 year ago

Can you run examples/example_mpc.cpp after installing the shared library?

mmurooka commented 1 year ago

Examples are not built automatically, but must be built as an independent project, right? I got the following error.

$ cd hpipm-cpp/examples/
$ mkdir build && cd build
$ cmake ..
$ LANG=C make -j4
[ 50%] Linking CXX executable example_mpc
[ 50%] Linking CXX executable example_ocp_qp
/home/mmurooka/src/install/lib/libhpipm-cpp.a(d_ocp_qp_wrapper.cpp.o): In function `_GLOBAL__sub_I_00100_0__ZN5hpipm16d_ocp_qp_wrapperC2ERKSt10shared_ptrINS_20d_ocp_qp_dim_wrapperEE':
d_ocp_qp_wrapper.cpp:(.text.startup+0x8): undefined reference to `__gcov_init'
/home/mmurooka/src/install/lib/libhpipm-cpp.a(d_ocp_qp_wrapper.cpp.o): In function `_GLOBAL__sub_D_00100_1__ZN5hpipm16d_ocp_qp_wrapperC2ERKSt10shared_ptrINS_20d_ocp_qp_dim_wrapperEE':
d_ocp_qp_wrapper.cpp:(.text.exit+0x1): undefined reference to `__gcov_exit'
/home/mmurooka/src/install/lib/libhpipm-cpp.a(d_ocp_qp_wrapper.cpp.o):(.data.rel+0x20): undefined reference to `__gcov_merge_add'
/home/mmurooka/src/install/lib/libhpipm-cpp.a(d_ocp_qp_sol_wrapper.cpp.o): In function `_GLOBAL__sub_I_00100_0__ZN5hpipm20d_ocp_qp_sol_wrapperC2ERKSt10shared_ptrINS_20d_ocp_qp_dim_wrapperEE':
d_ocp_qp_sol_wrapper.cpp:(.text.startup+0x8): undefined reference to `__gcov_init'
/home/mmurooka/src/install/lib/libhpipm-cpp.a(d_ocp_qp_sol_wrapper.cpp.o): In function `_GLOBAL__sub_D_00100_1__ZN5hpipm20d_ocp_qp_sol_wrapperC2ERKSt10shared_ptrINS_20d_ocp_qp_dim_wrapperEE':
d_ocp_qp_sol_wrapper.cpp:(.text.exit+0x1): undefined reference to `__gcov_exit'
/home/mmurooka/src/install/lib/libhpipm-cpp.a(d_ocp_qp_sol_wrapper.cpp.o):(.data.rel+0x20): undefined reference to `__gcov_merge_add'
/home/mmurooka/src/install/lib/libhpipm-cpp.a(d_ocp_qp_ipm_ws_wrapper.cpp.o): In function `_GLOBAL__sub_I_00100_0__ZN5hpipm23d_ocp_qp_ipm_ws_wrapperC2ERKSt10shared_ptrINS_20d_ocp_qp_dim_wrapperEERKS1_INS_24d_ocp_qp_ipm_arg_wrapperEE':
d_ocp_qp_ipm_ws_wrapper.cpp:(.text.startup+0x58): undefined reference to `__gcov_init'
/home/mmurooka/src/install/lib/libhpipm-cpp.a(d_ocp_qp_ipm_ws_wrapper.cpp.o): In function `_GLOBAL__sub_D_00100_1__ZN5hpipm23d_ocp_qp_ipm_ws_wrapperC2ERKSt10shared_ptrINS_20d_ocp_qp_dim_wrapperEERKS1_INS_24d_ocp_qp_ipm_arg_wrapperEE':
d_ocp_qp_ipm_ws_wrapper.cpp:(.text.exit+0x1): undefined reference to `__gcov_exit'
/home/mmurooka/src/install/lib/libhpipm-cpp.a(d_ocp_qp_ipm_ws_wrapper.cpp.o):(.data.rel+0x20): undefined reference to `__gcov_merge_add'
/home/mmurooka/src/install/lib/libhpipm-cpp.a(ocp_qp_ipm_solver_statistics.cpp.o): In function `_GLOBAL__sub_I_00100_0__ZN5hpipm24OcpQpIpmSolverStatistics6resizeEm':
ocp_qp_ipm_solver_statistics.cpp:(.text.startup+0x58): undefined reference to `__gcov_init'
/home/mmurooka/src/install/lib/libhpipm-cpp.a(ocp_qp_ipm_solver_statistics.cpp.o): In function `_GLOBAL__sub_D_00100_1__ZN5hpipm24OcpQpIpmSolverStatis
.....
mmurooka commented 1 year ago

I added the CI in the branch https://github.com/mmurooka/hpipm-cpp/tree/ci and got the same error https://github.com/mmurooka/hpipm-cpp/actions/runs/3546136677/jobs/5954873737

mayataka commented 1 year ago

Thank you for making the CI branch! I tested on two local machines and it works well on both machines, so I still don't get what is wrong. Do you have any idea to resolve this issue? Btw, I mistakenly set the default build of hpipm-cpp as static library. I will change it to build this library as shared library.

mmurooka commented 1 year ago

I tested on two local machines and it works well on both machines, so I still don't get what is wrong.

The error was reproduced in the docker environment by following commands.

docker run --rm -it ubuntu:20.04
# In the docker
apt-get update
apt-get install git cmake g++ libeigen3-dev
git clone https://github.com/mayataka/hpipm-cpp.git
cd hpipm-cpp
mkdir build
cd build
cmake .. -DBUILD_TESTS=ON
make -j4
ctest

Do you have any idea to resolve this issue?

I couldn't figure it out as far as a quick look at CMakeLists.txt (I'm not an expert in cmake anyway). I wonder if the following lines are related to the error.

https://github.com/mayataka/hpipm-cpp/blob/85d6983a86a1f0f95610c1b5964a324ee0af30b7/CMakeLists.txt#L38-L45

mayataka commented 1 year ago

Thank you for providing the docker example. I could reproduce the error withe the docker environment. I will take a look at this on my side.

mayataka commented 1 year ago

@mmurooka I decided to make the installations of blasfeo and hpipm as prerequisite of hpipm-cpp. Solving this issue would be really hard and I also found that even the building is successful, installation of blasfeo and hpipm to other locations, e.g., /usr/local/lib do not work correctly. We need to manually install blasfeo and hpipm before building hpipm-cpp but then there is no longer such a build issue. Is this enough in your case?

mmurooka commented 1 year ago

Is this enough in your case?

Yes.

mayataka commented 1 year ago

@mmurooka Could you test fix/link_error branch? The instructions of blasfeo and hpipm installations are found in https://github.com/mayataka/hpipm-cpp/tree/fix/link_error

mmurooka commented 1 year ago

Thank you. I still get the same error. I did the following commands in the docker.

docker run --rm -it ubuntu:20.04
    1  cd
    2  apt-get update
    3  apt-get install git cmake g++ libeigen3-dev
    4  git clone https://github.com/giaf/blasfeo
    5  git clone https://github.com/giaf/hpipm
    6  cd blasfeo && mkdir build && cd build
    7  cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBLASFEO_EXAMPLES=OFF 
    8  make install -j8
    9  cd ../../hpipm && mkdir build && cd build
   10  cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DHPIPM_TESTING=OFF 
   11  make install -j8
   14  cd
   15  git clone https://github.com/mayataka/hpipm-cpp
   16  cd hpipm-cpp
   18  git checkout fix/link_error
   19  git log
   21  mkdir build && cd build
   22  cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON
   23  make -j8
   24  ctest # Failure
   25  make install
   26  ctest # Failure
   27  ./test/ocp_qp_ipm_solver # Failure
   # ./test/ocp_qp_ipm_solver: error while loading shared libraries: libblasfeo.so: cannot open shared object file: No such file or directory
mayataka commented 1 year ago

Okay, now I found that setting LD_LIBRARY_PATH is mandatory to use blasfeo and hpipm because of their CMake installation scripts. For example, https://github.com/acados/acados also requires to set it for libblasfeo.so and libhpipm.so. I could run the tests and examples on docker as 

apt update
apt install git cmake g++ libeigen3-dev -y
git clone https://github.com/giaf/blasfeo
git clone https://github.com/giaf/hpipm
cd blasfeo && mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBLASFEO_EXAMPLES=OFF 
make install -j8
cd ../../hpipm && mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DHPIPM_TESTING=OFF 
make install -j8
cd ../..
export LD_LIBRARY_PATH=/opt/blasfeo/lib:/opt/hpipm/lib:$LD_LIBRARY_PATH
git clone https://github.com/mayataka/hpipm-cpp.git -b fix/link_error
cd hpipm-cpp
mkdir build
cd build
cmake .. -DBUILD_TESTS=ON
make install -j8
ctest
cd ../examples
mkdir build 
cd build
cmake .. 
make -j8
./example_ocp_qp
./example_mpc
mmurooka commented 1 year ago

Thank you, I can also do those commands successfully.

mayataka commented 1 year ago

I'll close this issue. Btw, I'll appriciate it if you make the pull request of the CI branch!

mmurooka commented 1 year ago

Btw, I'll appriciate it if you make the pull request of the CI branch!

I made PR https://github.com/mayataka/hpipm-cpp/pull/13