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Built target hal; make: *** [all] Error 2 #1

Closed jaunruh closed 5 years ago

jaunruh commented 5 years ago

When I am trying to install Roboticslibrary via Homebrew on MacOS I get the following console output:

==> Installing rl from roboticslibrary/rl
==> Downloading https://github.com/roboticslibrary/rl/archive/0.7.0.tar.gz
Already downloaded: /Users/johannes/Library/Caches/Homebrew/downloads/93c05189db990fbc5146c049e597da89271c0414d78150c359912e22f06ce0f4--rl-0.7.0.tar.gz
==> cmake .. -DCMAKE_C_FLAGS_RELEASE=-DNDEBUG -DCMAKE_CXX_FLAGS_RELEASE=-DNDEBUG -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/rl/0.7.0 -DCMAKE_BUILD_TYPE=Release -DCMAKE_FIND_FRAMEWORK=LAST -DCMAKE_VERBOSE_MAKEFILE=ON -Wno-dev
==> make install
Last 15 lines from /Users/johannes/Library/Logs/Homebrew/rl/02.make:
[ 49%] Building CXX object src/rl/hal/CMakeFiles/hal.dir/WeissKms40.cpp.o
cd /tmp/rl-20190123-74542-1gn302a/rl-0.7.0/build/src/rl/hal && /usr/local/Homebrew/Library/Homebrew/shims/mac/super/clang++  -DBOOST_ALL_NO_LIB -DHAVE_LITTLE_ENDIAN -Dhal_EXPORTS -I/tmp/rl-20190123-74542-1gn302a/rl-0.7.0/src/rl/std -I/tmp/rl-20190123-74542-1gn302a/rl-0.7.0/src -I/usr/local/include -I/usr/local/include/eigen3  -DNDEBUG -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk -fPIC   -std=gnu++11 -o CMakeFiles/hal.dir/WeissKms40.cpp.o -c /tmp/rl-20190123-74542-1gn302a/rl-0.7.0/src/rl/hal/WeissKms40.cpp
[ 49%] Building CXX object src/rl/hal/CMakeFiles/hal.dir/WeissWsg50.cpp.o
cd /tmp/rl-20190123-74542-1gn302a/rl-0.7.0/build/src/rl/hal && /usr/local/Homebrew/Library/Homebrew/shims/mac/super/clang++  -DBOOST_ALL_NO_LIB -DHAVE_LITTLE_ENDIAN -Dhal_EXPORTS -I/tmp/rl-20190123-74542-1gn302a/rl-0.7.0/src/rl/std -I/tmp/rl-20190123-74542-1gn302a/rl-0.7.0/src -I/usr/local/include -I/usr/local/include/eigen3  -DNDEBUG -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk -fPIC   -std=gnu++11 -o CMakeFiles/hal.dir/WeissWsg50.cpp.o -c /tmp/rl-20190123-74542-1gn302a/rl-0.7.0/src/rl/hal/WeissWsg50.cpp
[ 49%] Linking CXX shared library librlmdl.dylib
cd /tmp/rl-20190123-74542-1gn302a/rl-0.7.0/build/src/rl/mdl && /usr/local/Cellar/cmake/3.13.3/bin/cmake -E cmake_link_script CMakeFiles/mdl.dir/link.txt --verbose=1
/usr/local/Homebrew/Library/Homebrew/shims/mac/super/clang++ -DNDEBUG -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk -dynamiclib -Wl,-headerpad_max_install_names -current_version 0.7.0 -o librlmdl.0.7.0.dylib -install_name /tmp/rl-20190123-74542-1gn302a/rl-0.7.0/build/src/rl/mdl/librlmdl.0.7.0.dylib CMakeFiles/mdl.dir/Body.cpp.o CMakeFiles/mdl.dir/Compound.cpp.o CMakeFiles/mdl.dir/Cylindrical.cpp.o CMakeFiles/mdl.dir/Dynamic.cpp.o CMakeFiles/mdl.dir/Element.cpp.o CMakeFiles/mdl.dir/Exception.cpp.o CMakeFiles/mdl.dir/Fixed.cpp.o CMakeFiles/mdl.dir/Factory.cpp.o CMakeFiles/mdl.dir/Frame.cpp.o CMakeFiles/mdl.dir/Helical.cpp.o CMakeFiles/mdl.dir/InverseKinematics.cpp.o CMakeFiles/mdl.dir/JacobianInverseKinematics.cpp.o CMakeFiles/mdl.dir/Joint.cpp.o CMakeFiles/mdl.dir/Kinematic.cpp.o CMakeFiles/mdl.dir/Metric.cpp.o CMakeFiles/mdl.dir/Model.cpp.o CMakeFiles/mdl.dir/Prismatic.cpp.o CMakeFiles/mdl.dir/Revolute.cpp.o CMakeFiles/mdl.dir/Spherical.cpp.o CMakeFiles/mdl.dir/Transform.cpp.o CMakeFiles/mdl.dir/UrdfFactory.cpp.o CMakeFiles/mdl.dir/World.cpp.o CMakeFiles/mdl.dir/XmlFactory.cpp.o CMakeFiles/mdl.dir/NloptInverseKinematics.cpp.o /usr/local/lib/libnlopt.dylib /usr/lib/libxml2.dylib /usr/lib/libxslt.dylib /usr/lib/libiconv.dylib /usr/lib/libz.dylib 
cd /tmp/rl-20190123-74542-1gn302a/rl-0.7.0/build/src/rl/mdl && /usr/local/Cellar/cmake/3.13.3/bin/cmake -E cmake_symlink_library librlmdl.0.7.0.dylib librlmdl.0.7.0.dylib librlmdl.dylib
[ 49%] Built target mdl
[ 49%] Linking CXX shared library librlhal.dylib
cd /tmp/rl-20190123-74542-1gn302a/rl-0.7.0/build/src/rl/hal && /usr/local/Cellar/cmake/3.13.3/bin/cmake -E cmake_link_script CMakeFiles/hal.dir/link.txt --verbose=1
/usr/local/Homebrew/Library/Homebrew/shims/mac/super/clang++ -DNDEBUG -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk -dynamiclib -Wl,-headerpad_max_install_names -current_version 0.7.0 -o librlhal.0.7.0.dylib -install_name /tmp/rl-20190123-74542-1gn302a/rl-0.7.0/build/src/rl/hal/librlhal.0.7.0.dylib CMakeFiles/hal.dir/AnalogInput.cpp.o CMakeFiles/hal.dir/AnalogInputReader.cpp.o CMakeFiles/hal.dir/AnalogInputWriter.cpp.o CMakeFiles/hal.dir/AnalogOutput.cpp.o CMakeFiles/hal.dir/AnalogOutputReader.cpp.o CMakeFiles/hal.dir/AnalogOutputWriter.cpp.o CMakeFiles/hal.dir/AxisController.cpp.o CMakeFiles/hal.dir/Camera.cpp.o CMakeFiles/hal.dir/CartesianForceSensor.cpp.o CMakeFiles/hal.dir/CartesianPositionActuator.cpp.o CMakeFiles/hal.dir/CartesianPositionSensor.cpp.o CMakeFiles/hal.dir/CartesianVelocitySensor.cpp.o CMakeFiles/hal.dir/Coach.cpp.o CMakeFiles/hal.dir/Com.cpp.o CMakeFiles/hal.dir/ComException.cpp.o CMakeFiles/hal.dir/CyclicDevice.cpp.o CMakeFiles/hal.dir/Device.cpp.o CMakeFiles/hal.dir/DeviceException.cpp.o CMakeFiles/hal.dir/DigitalInput.cpp.o CMakeFiles/hal.dir/DigitalInputReader.cpp.o CMakeFiles/hal.dir/DigitalInputWriter.cpp.o CMakeFiles/hal.dir/DigitalOutput.cpp.o CMakeFiles/hal.dir/DigitalOutputReader.cpp.o CMakeFiles/hal.dir/DigitalOutputWriter.cpp.o CMakeFiles/hal.dir/Endian.cpp.o CMakeFiles/hal.dir/Exception.cpp.o CMakeFiles/hal.dir/Fieldbus.cpp.o CMakeFiles/hal.dir/ForceSensor.cpp.o CMakeFiles/hal.dir/Gnuplot.cpp.o CMakeFiles/hal.dir/Gripper.cpp.o CMakeFiles/hal.dir/JointAccelerationActuator.cpp.o CMakeFiles/hal.dir/JointCurrentSensor.cpp.o CMakeFiles/hal.dir/JointPositionActuator.cpp.o CMakeFiles/hal.dir/JointPositionSensor.cpp.o CMakeFiles/hal.dir/JointTorqueActuator.cpp.o CMakeFiles/hal.dir/JointTorqueSensor.cpp.o CMakeFiles/hal.dir/JointVelocityActuator.cpp.o CMakeFiles/hal.dir/JointVelocitySensor.cpp.o CMakeFiles/hal.dir/LeuzeRs4.cpp.o CMakeFiles/hal.dir/Lidar.cpp.o CMakeFiles/hal.dir/MitsubishiH7.cpp.o CMakeFiles/hal.dir/MitsubishiR3.cpp.o CMakeFiles/hal.dir/RangeSensor.cpp.o CMakeFiles/hal.dir/SchmersalLss300.cpp.o CMakeFiles/hal.dir/SchunkFpsF5.cpp.o CMakeFiles/hal.dir/Serial.cpp.o CMakeFiles/hal.dir/SickLms200.cpp.o CMakeFiles/hal.dir/SickS300.cpp.o CMakeFiles/hal.dir/SixAxisForceTorqueSensor.cpp.o CMakeFiles/hal.dir/Socket.cpp.o CMakeFiles/hal.dir/TimeoutException.cpp.o CMakeFiles/hal.dir/TorqueSensor.cpp.o CMakeFiles/hal.dir/UniversalRobotsDashboard.cpp.o CMakeFiles/hal.dir/UniversalRobotsRealtime.cpp.o CMakeFiles/hal.dir/UniversalRobotsRtde.cpp.o CMakeFiles/hal.dir/WeissException.cpp.o CMakeFiles/hal.dir/WeissKms40.cpp.o CMakeFiles/hal.dir/WeissWsg50.cpp.o 
cd /tmp/rl-20190123-74542-1gn302a/rl-0.7.0/build/src/rl/hal && /usr/local/Cellar/cmake/3.13.3/bin/cmake -E cmake_symlink_library librlhal.0.7.0.dylib librlhal.0.7.0.dylib librlhal.dylib
[ 49%] Built target hal
make: *** [all] Error 2

On multiple runs i get similiar but different results:

Johanness-MBP:/ johannes$ brew install rl
==> Installing rl from roboticslibrary/rl
==> Downloading https://github.com/roboticslibrary/rl/archive/0.7.0.tar.gz
==> Downloading from https://codeload.github.com/roboticslibrary/rl/tar.gz/0.7.0
######################################################################## 100.0%
==> cmake .. -DCMAKE_C_FLAGS_RELEASE=-DNDEBUG -DCMAKE_CXX_FLAGS_RELEASE=-DNDEBUG -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/rl/0.7.0 -DCMAKE_BUILD_TYPE=Release -DCMAKE_FIND_FRAMEWORK=LAST -DCMAKE_VERBOSE_MAKEFILE=ON -Wno-dev
==> make install
Last 15 lines from /Users/johannes/Library/Logs/Homebrew/rl/02.make:
[ 49%] Building CXX object src/rl/hal/CMakeFiles/hal.dir/WeissKms40.cpp.o
cd /tmp/rl-20190123-84160-132ldc1/rl-0.7.0/build/src/rl/hal && /usr/local/Homebrew/Library/Homebrew/shims/mac/super/clang++  -DBOOST_ALL_NO_LIB -DHAVE_LITTLE_ENDIAN -Dhal_EXPORTS -I/tmp/rl-20190123-84160-132ldc1/rl-0.7.0/src/rl/std -I/tmp/rl-20190123-84160-132ldc1/rl-0.7.0/src -I/usr/local/include -I/usr/local/include/eigen3  -DNDEBUG -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk -fPIC   -std=gnu++11 -o CMakeFiles/hal.dir/WeissKms40.cpp.o -c /tmp/rl-20190123-84160-132ldc1/rl-0.7.0/src/rl/hal/WeissKms40.cpp
[ 49%] Building CXX object src/rl/hal/CMakeFiles/hal.dir/WeissWsg50.cpp.o
cd /tmp/rl-20190123-84160-132ldc1/rl-0.7.0/build/src/rl/hal && /usr/local/Homebrew/Library/Homebrew/shims/mac/super/clang++  -DBOOST_ALL_NO_LIB -DHAVE_LITTLE_ENDIAN -Dhal_EXPORTS -I/tmp/rl-20190123-84160-132ldc1/rl-0.7.0/src/rl/std -I/tmp/rl-20190123-84160-132ldc1/rl-0.7.0/src -I/usr/local/include -I/usr/local/include/eigen3  -DNDEBUG -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk -fPIC   -std=gnu++11 -o CMakeFiles/hal.dir/WeissWsg50.cpp.o -c /tmp/rl-20190123-84160-132ldc1/rl-0.7.0/src/rl/hal/WeissWsg50.cpp
[ 49%] Linking CXX shared library librlhal.dylib
cd /tmp/rl-20190123-84160-132ldc1/rl-0.7.0/build/src/rl/hal && /usr/local/Cellar/cmake/3.13.3/bin/cmake -E cmake_link_script CMakeFiles/hal.dir/link.txt --verbose=1
/usr/local/Homebrew/Library/Homebrew/shims/mac/super/clang++ -DNDEBUG -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk -dynamiclib -Wl,-headerpad_max_install_names -current_version 0.7.0 -o librlhal.0.7.0.dylib -install_name /tmp/rl-20190123-84160-132ldc1/rl-0.7.0/build/src/rl/hal/librlhal.0.7.0.dylib CMakeFiles/hal.dir/AnalogInput.cpp.o CMakeFiles/hal.dir/AnalogInputReader.cpp.o CMakeFiles/hal.dir/AnalogInputWriter.cpp.o CMakeFiles/hal.dir/AnalogOutput.cpp.o CMakeFiles/hal.dir/AnalogOutputReader.cpp.o CMakeFiles/hal.dir/AnalogOutputWriter.cpp.o CMakeFiles/hal.dir/AxisController.cpp.o CMakeFiles/hal.dir/Camera.cpp.o CMakeFiles/hal.dir/CartesianForceSensor.cpp.o CMakeFiles/hal.dir/CartesianPositionActuator.cpp.o CMakeFiles/hal.dir/CartesianPositionSensor.cpp.o CMakeFiles/hal.dir/CartesianVelocitySensor.cpp.o CMakeFiles/hal.dir/Coach.cpp.o CMakeFiles/hal.dir/Com.cpp.o CMakeFiles/hal.dir/ComException.cpp.o CMakeFiles/hal.dir/CyclicDevice.cpp.o CMakeFiles/hal.dir/Device.cpp.o CMakeFiles/hal.dir/DeviceException.cpp.o CMakeFiles/hal.dir/DigitalInput.cpp.o CMakeFiles/hal.dir/DigitalInputReader.cpp.o CMakeFiles/hal.dir/DigitalInputWriter.cpp.o CMakeFiles/hal.dir/DigitalOutput.cpp.o CMakeFiles/hal.dir/DigitalOutputReader.cpp.o CMakeFiles/hal.dir/DigitalOutputWriter.cpp.o CMakeFiles/hal.dir/Endian.cpp.o CMakeFiles/hal.dir/Exception.cpp.o CMakeFiles/hal.dir/Fieldbus.cpp.o CMakeFiles/hal.dir/ForceSensor.cpp.o CMakeFiles/hal.dir/Gnuplot.cpp.o CMakeFiles/hal.dir/Gripper.cpp.o CMakeFiles/hal.dir/JointAccelerationActuator.cpp.o CMakeFiles/hal.dir/JointCurrentSensor.cpp.o CMakeFiles/hal.dir/JointPositionActuator.cpp.o CMakeFiles/hal.dir/JointPositionSensor.cpp.o CMakeFiles/hal.dir/JointTorqueActuator.cpp.o CMakeFiles/hal.dir/JointTorqueSensor.cpp.o CMakeFiles/hal.dir/JointVelocityActuator.cpp.o CMakeFiles/hal.dir/JointVelocitySensor.cpp.o CMakeFiles/hal.dir/LeuzeRs4.cpp.o CMakeFiles/hal.dir/Lidar.cpp.o CMakeFiles/hal.dir/MitsubishiH7.cpp.o CMakeFiles/hal.dir/MitsubishiR3.cpp.o CMakeFiles/hal.dir/RangeSensor.cpp.o CMakeFiles/hal.dir/SchmersalLss300.cpp.o CMakeFiles/hal.dir/SchunkFpsF5.cpp.o CMakeFiles/hal.dir/Serial.cpp.o CMakeFiles/hal.dir/SickLms200.cpp.o CMakeFiles/hal.dir/SickS300.cpp.o CMakeFiles/hal.dir/SixAxisForceTorqueSensor.cpp.o CMakeFiles/hal.dir/Socket.cpp.o CMakeFiles/hal.dir/TimeoutException.cpp.o CMakeFiles/hal.dir/TorqueSensor.cpp.o CMakeFiles/hal.dir/UniversalRobotsDashboard.cpp.o CMakeFiles/hal.dir/UniversalRobotsRealtime.cpp.o CMakeFiles/hal.dir/UniversalRobotsRtde.cpp.o CMakeFiles/hal.dir/WeissException.cpp.o CMakeFiles/hal.dir/WeissKms40.cpp.o CMakeFiles/hal.dir/WeissWsg50.cpp.o 
[ 49%] Linking CXX shared library librlmdl.dylib
cd /tmp/rl-20190123-84160-132ldc1/rl-0.7.0/build/src/rl/mdl && /usr/local/Cellar/cmake/3.13.3/bin/cmake -E cmake_link_script CMakeFiles/mdl.dir/link.txt --verbose=1
/usr/local/Homebrew/Library/Homebrew/shims/mac/super/clang++ -DNDEBUG -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.14.sdk -dynamiclib -Wl,-headerpad_max_install_names -current_version 0.7.0 -o librlmdl.0.7.0.dylib -install_name /tmp/rl-20190123-84160-132ldc1/rl-0.7.0/build/src/rl/mdl/librlmdl.0.7.0.dylib CMakeFiles/mdl.dir/Body.cpp.o CMakeFiles/mdl.dir/Compound.cpp.o CMakeFiles/mdl.dir/Cylindrical.cpp.o CMakeFiles/mdl.dir/Dynamic.cpp.o CMakeFiles/mdl.dir/Element.cpp.o CMakeFiles/mdl.dir/Exception.cpp.o CMakeFiles/mdl.dir/Fixed.cpp.o CMakeFiles/mdl.dir/Factory.cpp.o CMakeFiles/mdl.dir/Frame.cpp.o CMakeFiles/mdl.dir/Helical.cpp.o CMakeFiles/mdl.dir/InverseKinematics.cpp.o CMakeFiles/mdl.dir/JacobianInverseKinematics.cpp.o CMakeFiles/mdl.dir/Joint.cpp.o CMakeFiles/mdl.dir/Kinematic.cpp.o CMakeFiles/mdl.dir/Metric.cpp.o CMakeFiles/mdl.dir/Model.cpp.o CMakeFiles/mdl.dir/Prismatic.cpp.o CMakeFiles/mdl.dir/Revolute.cpp.o CMakeFiles/mdl.dir/Spherical.cpp.o CMakeFiles/mdl.dir/Transform.cpp.o CMakeFiles/mdl.dir/UrdfFactory.cpp.o CMakeFiles/mdl.dir/World.cpp.o CMakeFiles/mdl.dir/XmlFactory.cpp.o CMakeFiles/mdl.dir/NloptInverseKinematics.cpp.o /usr/local/lib/libnlopt.dylib /usr/lib/libxml2.dylib /usr/lib/libxslt.dylib /usr/lib/libiconv.dylib /usr/lib/libz.dylib 
cd /tmp/rl-20190123-84160-132ldc1/rl-0.7.0/build/src/rl/hal && /usr/local/Cellar/cmake/3.13.3/bin/cmake -E cmake_symlink_library librlhal.0.7.0.dylib librlhal.0.7.0.dylib librlhal.dylib
cd /tmp/rl-20190123-84160-132ldc1/rl-0.7.0/build/src/rl/mdl && /usr/local/Cellar/cmake/3.13.3/bin/cmake -E cmake_symlink_library librlmdl.0.7.0.dylib librlmdl.0.7.0.dylib librlmdl.dylib
[ 49%] Built target hal
[ 49%] Built target mdl
make: *** [all] Error 2

I also tried to the same on a different Macbook but i am getting the same error. Both Macbooks are running 10.14.2 Mojave.

Anyone able to help?

rickertm commented 5 years ago

The error can be found in the ~/Library/Logs/Homebrew/rl/02.make log file:

[ 33%] Linking CXX shared library librlsg.dylib
Undefined symbols for architecture x86_64:
  "_ccdFirstDirDefault", referenced from:
      ccdCollide(dxGeom*, dxGeom*, int, dContactGeom*, int, void*, void (*)(void const*, _ccd_vec3_t const*, _ccd_vec3_t*), void (*)(void const*, _ccd_vec3_t*), void*, void (*)(void const*, _ccd_vec3_t const*, _ccd_vec3_t*), void (*)(void const*, _ccd_vec3_t*)) in libode.a(collision_libccd.o)
  "_ccdMPRIntersect", referenced from:
      ccdCollide(dxGeom*, dxGeom*, int, dContactGeom*, int, void*, void (*)(void const*, _ccd_vec3_t const*, _ccd_vec3_t*), void (*)(void const*, _ccd_vec3_t*), void*, void (*)(void const*, _ccd_vec3_t const*, _ccd_vec3_t*), void (*)(void const*, _ccd_vec3_t*)) in libode.a(collision_libccd.o)
  "_ccdMPRPenetration", referenced from:
      ccdCollide(dxGeom*, dxGeom*, int, dContactGeom*, int, void*, void (*)(void const*, _ccd_vec3_t const*, _ccd_vec3_t*), void (*)(void const*, _ccd_vec3_t*), void*, void (*)(void const*, _ccd_vec3_t const*, _ccd_vec3_t*), void (*)(void const*, _ccd_vec3_t*)) in libode.a(collision_libccd.o)
ld: symbol(s) not found for architecture x86_64
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [src/rl/sg/librlsg.0.7.0.dylib] Error 1
make[1]: *** [src/rl/sg/CMakeFiles/sg.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

Due to commit https://github.com/Homebrew/homebrew-core/commit/04962912b0445b1c4af4f99126aa01aef36f6ce0 (see https://github.com/Homebrew/homebrew-core/pull/24751), ODE is now built with libccd. Version 0.7.0 however only links libccd for FCL. Commit https://github.com/roboticslibrary/rl/commit/2398cea996dce6c54330d6562fa1079daa1a9d4a fixes this.

You can try version 0.7.0 without ODE or use the upstream version:

brew install --HEAD rl
rickertm commented 5 years ago

With commit 84485634e53c4f0d4c3f90c1ceba4d977e7a91a4 the default installation should now also work with the ODE package.