S-Dafarra
commented
2 years ago It is a problem related to ipopt. I guess it is a linking issue in iDyntree I think
Closed SimoneMic closed 2 years ago
S-Dafarra
commented
2 years ago It is a problem related to ipopt. I guess it is a linking issue in iDyntree I think
SimoneMic
commented
2 years ago So I should reinstall the library and recompile the walking-controller (and iDyntree), am I correct?
S-Dafarra
commented
2 years ago I would also make sure that you have a single ipopt version in your system. I can also check which specific test to run on iDynTree to make sure that things are working fine. Stay tuned
S-Dafarra
commented
2 years ago In the iDynTree build, enable the CMake option IDYNTREE_COMPILE_TESTS, and compile. Then run
ctest -R Inversein the iDynTree build folder.
SimoneMic
commented
2 years ago I had this result:
simone@IITICUBLAP249:~/idyntree/build$ ctest -R Inverse
Test project /home/simone/idyntree/build
Start 45: UnitTestInverseKinematics
1/2 Test #45: UnitTestInverseKinematics .................... Passed 0.45 sec
Start 46: UnitTestInverseKinematicsMatrixViewAndSpan
2/2 Test #46: UnitTestInverseKinematicsMatrixViewAndSpan ... Passed 0.44 sec
100% tests passed, 0 tests failed out of 2
Total Test time (real) = 0.90 secOk it seems that it has to do somehow with qpOases. In the log above there is
dgemm_ (TRANSA=0x7ffff48b2859 "N", TRANSB=<optimized out>, M=<optimized out>, N=<optimized out>, K=<optimized out>, ALPHA=<optimized out>, A=<optimized out>, LDA=0x7fff52ff47e0, B=0x7fffec071020,
LDB=0x7fff52ff47e0, BETA=0x7fff52ff4530, C=0x7fffec071028, LDC=0x7fff52ff47e0) at /home/simone/qpOASES/src/BLASReplacement.cpp:69
69 C[j+(*LDC)*k] -= A[j+(*LDA)*i] * B[i+(*LDB)*k];and it is weird because it seems that mumps (the linear solver that ipopt is used to solve linear systems) is calling qpOases, and it definitely shouldn't.
How did you install qpOases? Also, I would suggest reinstalling ipopt and mumps, and recompile iDynTree and walking-controllers.
S-Dafarra
commented
2 years ago By the way, is it still happening?
traversaro
commented
2 years ago This seems something that we solved in https://github.com/robotology-dependencies/qpOASES/pull/7 and was solved upstream in https://projects.coin-or.org/qpOASES/changeset/255/, so probably a "strange" version of qpOASES is installed as per @S-Dafarra intuition. See also https://github.com/robotology/walking-controllers/issues/15 .
SimoneMic
commented
2 years ago I've installed qpOases from source here https://github.com/robotology-dependencies/qpOASES
traversaro
commented
2 years ago That is strange. Can you return the output of:
ldd `which WalkingModule`and:
ldconfig -p | grep qpOASESldd `which WalkingModule`returns:
linux-vdso.so.1 (0x00007ffffa1b2000)
libWalkingControllersTimeProfiler.so.0.5.100 => /usr/local/bin/../lib/libWalkingControllersTimeProfiler.so.0.5.100 (0x00007f452d42b000)
libWalkingControllersRobotInterface.so.0.5.100 => /usr/local/bin/../lib/libWalkingControllersRobotInterface.so.0.5.100 (0x00007f452d3d9000)
libWalkingControllersTrajectoryPlanner.so.0.5.100 => /usr/local/bin/../lib/libWalkingControllersTrajectoryPlanner.so.0.5.100 (0x00007f452d38b000)
libWalkingControllersSimplifiedModelControllers.so.0.5.100 => /usr/local/bin/../lib/libWalkingControllersSimplifiedModelControllers.so.0.5.100 (0x00007f452d32d000)
libWholeBodyControllers.so.0.5.100 => /usr/local/bin/../lib/libWholeBodyControllers.so.0.5.100 (0x00007f452d27d000)
libWalkingControllersRetargetingHelper.so.0.5.100 => /usr/local/bin/../lib/libWalkingControllersRetargetingHelper.so.0.5.100 (0x00007f452d262000)
libBipedalLocomotionFrameworkVectorsCollection.so.0.6.100 => /usr/local/bin/../lib/libBipedalLocomotionFrameworkVectorsCollection.so.0.6.100 (0x00007f452d259000)
libUnicyclePlanner.so => /usr/local/bin/../lib/libUnicyclePlanner.so (0x00007f452d1ff000)
libWalkingControllersKinDynWrapper.so.0.5.100 => /usr/local/bin/../lib/libWalkingControllersKinDynWrapper.so.0.5.100 (0x00007f452d1d6000)
libidyntree-inverse-kinematics.so => /lib/libidyntree-inverse-kinematics.so (0x00007f452d151000)
libidyntree-high-level.so => /lib/libidyntree-high-level.so (0x00007f452d12d000)
libidyntree-modelio-urdf.so => /lib/libidyntree-modelio-urdf.so (0x00007f452d0dc000)
libidyntree-model.so => /lib/libidyntree-model.so (0x00007f452d063000)
libidyntree-core.so => /lib/libidyntree-core.so (0x00007f452cfec000)
libWalkingControllersYarpUtilities.so.0.5.100 => /usr/local/bin/../lib/libWalkingControllersYarpUtilities.so.0.5.100 (0x00007f452cfe0000)
libYARP_init.so.3 => /usr/local/bin/../lib/libYARP_init.so.3 (0x00007f452cfdb000)
libYARP_dev.so.3 => /usr/local/bin/../lib/libYARP_dev.so.3 (0x00007f452cef7000)
libYARP_sig.so.3 => /usr/local/bin/../lib/libYARP_sig.so.3 (0x00007f452cea6000)
libYARP_os.so.3 => /usr/local/bin/../lib/libYARP_os.so.3 (0x00007f452ccc2000)
libstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f452caa8000)
libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f452c959000)
libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f452c93e000)
libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f452c74c000)
libWalkingControllersiDynTreeUtilities.so.0.5.100 => /usr/local/bin/../lib/libWalkingControllersiDynTreeUtilities.so.0.5.100 (0x00007f452c744000)
libYARP_math.so.3 => /usr/local/bin/../lib/libYARP_math.so.3 (0x00007f452c6f3000)
libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f452c6d0000)
libosqp.so => /usr/local/bin/../lib/libosqp.so (0x00007f452c6b3000)
libidyntree-optimalcontrol.so => /lib/libidyntree-optimalcontrol.so (0x00007f452c5e2000)
libipopt.so.1 => /lib/libipopt.so.1 (0x00007f452c373000)
libidyntree-sensors.so => /lib/libidyntree-sensors.so (0x00007f452c34d000)
libidyntree-modelio-xml.so => /lib/libidyntree-modelio-xml.so (0x00007f452c338000)
libxml2.so.2 => /lib/x86_64-linux-gnu/libxml2.so.2 (0x00007f452c17e000)
libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f452c162000)
libjpeg.so.8 => /lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007f452c0db000)
libpng16.so.16 => /lib/x86_64-linux-gnu/libpng16.so.16 (0x00007f452c0a3000)
libavcodec.so.58 => /lib/x86_64-linux-gnu/libavcodec.so.58 (0x00007f452aae6000)
libavutil.so.56 => /lib/x86_64-linux-gnu/libavutil.so.56 (0x00007f452a9bd000)
libACE-6.4.5.so => /lib/libACE-6.4.5.so (0x00007f452a828000)
libedit.so.2 => /lib/x86_64-linux-gnu/libedit.so.2 (0x00007f452a7f0000)
/lib64/ld-linux-x86-64.so.2 (0x00007f452d492000)
libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f452a7e8000)
liblapack.so.3 => /lib/x86_64-linux-gnu/liblapack.so.3 (0x00007f452a120000)
libblas.so.3 => /lib/x86_64-linux-gnu/libblas.so.3 (0x00007f4529d5a000)
libdmumps_seq-5.2.1.so => /lib/x86_64-linux-gnu/libdmumps_seq-5.2.1.so (0x00007f4529b4b000)
libicuuc.so.66 => /lib/x86_64-linux-gnu/libicuuc.so.66 (0x00007f4529965000)
liblzma.so.5 => /lib/x86_64-linux-gnu/liblzma.so.5 (0x00007f452993a000)
libswresample.so.3 => /lib/x86_64-linux-gnu/libswresample.so.3 (0x00007f4529918000)
libvpx.so.6 => /lib/x86_64-linux-gnu/libvpx.so.6 (0x00007f45296e0000)
libwebpmux.so.3 => /lib/x86_64-linux-gnu/libwebpmux.so.3 (0x00007f45296d4000)
libwebp.so.6 => /lib/x86_64-linux-gnu/libwebp.so.6 (0x00007f452966a000)
librsvg-2.so.2 => /lib/x86_64-linux-gnu/librsvg-2.so.2 (0x00007f4528d3f000)
libgobject-2.0.so.0 => /lib/x86_64-linux-gnu/libgobject-2.0.so.0 (0x00007f4528cdd000)
libglib-2.0.so.0 => /lib/x86_64-linux-gnu/libglib-2.0.so.0 (0x00007f4528bb4000)
libcairo.so.2 => /lib/x86_64-linux-gnu/libcairo.so.2 (0x00007f4528a91000)
libzvbi.so.0 => /lib/x86_64-linux-gnu/libzvbi.so.0 (0x00007f4528a02000)
libsnappy.so.1 => /lib/x86_64-linux-gnu/libsnappy.so.1 (0x00007f45289f7000)
libaom.so.0 => /lib/x86_64-linux-gnu/libaom.so.0 (0x00007f4528559000)
libcodec2.so.0.9 => /lib/x86_64-linux-gnu/libcodec2.so.0.9 (0x00007f4527773000)
libgsm.so.1 => /lib/x86_64-linux-gnu/libgsm.so.1 (0x00007f4527764000)
libmp3lame.so.0 => /lib/x86_64-linux-gnu/libmp3lame.so.0 (0x00007f45276ec000)
libopenjp2.so.7 => /lib/x86_64-linux-gnu/libopenjp2.so.7 (0x00007f4527696000)
libopus.so.0 => /lib/x86_64-linux-gnu/libopus.so.0 (0x00007f4527637000)
libshine.so.3 => /lib/x86_64-linux-gnu/libshine.so.3 (0x00007f452742c000)
libspeex.so.1 => /lib/x86_64-linux-gnu/libspeex.so.1 (0x00007f452740c000)
libtheoraenc.so.1 => /lib/x86_64-linux-gnu/libtheoraenc.so.1 (0x00007f45273cf000)
libtheoradec.so.1 => /lib/x86_64-linux-gnu/libtheoradec.so.1 (0x00007f45273af000)
libtwolame.so.0 => /lib/x86_64-linux-gnu/libtwolame.so.0 (0x00007f4527389000)
libvorbis.so.0 => /lib/x86_64-linux-gnu/libvorbis.so.0 (0x00007f452735b000)
libvorbisenc.so.2 => /lib/x86_64-linux-gnu/libvorbisenc.so.2 (0x00007f45272b0000)
libwavpack.so.1 => /lib/x86_64-linux-gnu/libwavpack.so.1 (0x00007f4527282000)
libx264.so.155 => /lib/x86_64-linux-gnu/libx264.so.155 (0x00007f4526fc4000)
libx265.so.179 => /lib/x86_64-linux-gnu/libx265.so.179 (0x00007f4526056000)
libxvidcore.so.4 => /lib/x86_64-linux-gnu/libxvidcore.so.4 (0x00007f4525f43000)
libva.so.2 => /lib/x86_64-linux-gnu/libva.so.2 (0x00007f4525f1a000)
libva-drm.so.2 => /lib/x86_64-linux-gnu/libva-drm.so.2 (0x00007f4525f13000)
libva-x11.so.2 => /lib/x86_64-linux-gnu/libva-x11.so.2 (0x00007f4525f0b000)
libvdpau.so.1 => /lib/x86_64-linux-gnu/libvdpau.so.1 (0x00007f4525f05000)
libX11.so.6 => /lib/x86_64-linux-gnu/libX11.so.6 (0x00007f4525dc8000)
libdrm.so.2 => /lib/x86_64-linux-gnu/libdrm.so.2 (0x00007f4525db4000)
libOpenCL.so.1 => /lib/x86_64-linux-gnu/libOpenCL.so.1 (0x00007f4525ba9000)
librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f4525b9c000)
libtinfo.so.6 => /lib/x86_64-linux-gnu/libtinfo.so.6 (0x00007f4525b6c000)
libbsd.so.0 => /lib/x86_64-linux-gnu/libbsd.so.0 (0x00007f4525b52000)
libgfortran.so.5 => /lib/x86_64-linux-gnu/libgfortran.so.5 (0x00007f452588a000)
libmumps_common_seq-5.2.1.so => /lib/x86_64-linux-gnu/libmumps_common_seq-5.2.1.so (0x00007f4525832000)
libicudata.so.66 => /lib/x86_64-linux-gnu/libicudata.so.66 (0x00007f4523d6f000)
libsoxr.so.0 => /lib/x86_64-linux-gnu/libsoxr.so.0 (0x00007f4523d04000)
libcairo-gobject.so.2 => /lib/x86_64-linux-gnu/libcairo-gobject.so.2 (0x00007f4523cf8000)
libgdk_pixbuf-2.0.so.0 => /lib/x86_64-linux-gnu/libgdk_pixbuf-2.0.so.0 (0x00007f4523cd0000)
libgio-2.0.so.0 => /lib/x86_64-linux-gnu/libgio-2.0.so.0 (0x00007f4523aef000)
libpangocairo-1.0.so.0 => /lib/x86_64-linux-gnu/libpangocairo-1.0.so.0 (0x00007f4523adb000)
libpango-1.0.so.0 => /lib/x86_64-linux-gnu/libpango-1.0.so.0 (0x00007f4523a8c000)
libffi.so.7 => /lib/x86_64-linux-gnu/libffi.so.7 (0x00007f4523a80000)
libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007f4523a0d000)
libpixman-1.so.0 => /lib/x86_64-linux-gnu/libpixman-1.so.0 (0x00007f4523966000)
libfontconfig.so.1 => /lib/x86_64-linux-gnu/libfontconfig.so.1 (0x00007f452391d000)
libfreetype.so.6 => /lib/x86_64-linux-gnu/libfreetype.so.6 (0x00007f452385e000)
libxcb-shm.so.0 => /lib/x86_64-linux-gnu/libxcb-shm.so.0 (0x00007f4523859000)
libxcb.so.1 => /lib/x86_64-linux-gnu/libxcb.so.1 (0x00007f452382f000)
libxcb-render.so.0 => /lib/x86_64-linux-gnu/libxcb-render.so.0 (0x00007f4523820000)
libXrender.so.1 => /lib/x86_64-linux-gnu/libXrender.so.1 (0x00007f4523616000)
libXext.so.6 => /lib/x86_64-linux-gnu/libXext.so.6 (0x00007f4523601000)
libogg.so.0 => /lib/x86_64-linux-gnu/libogg.so.0 (0x00007f45235f2000)
libnuma.so.1 => /lib/x86_64-linux-gnu/libnuma.so.1 (0x00007f45235e5000)
libXfixes.so.3 => /lib/x86_64-linux-gnu/libXfixes.so.3 (0x00007f45235dd000)
libquadmath.so.0 => /lib/x86_64-linux-gnu/libquadmath.so.0 (0x00007f4523593000)
libpord_seq-5.2.1.so => /lib/x86_64-linux-gnu/libpord_seq-5.2.1.so (0x00007f4523578000)
libesmumps-6.so => /lib/x86_64-linux-gnu/libesmumps-6.so (0x00007f4523572000)
libscotch-6.so => /lib/x86_64-linux-gnu/libscotch-6.so (0x00007f45234dd000)
libgomp.so.1 => /lib/x86_64-linux-gnu/libgomp.so.1 (0x00007f4523498000)
libgmodule-2.0.so.0 => /lib/x86_64-linux-gnu/libgmodule-2.0.so.0 (0x00007f4523492000)
libmount.so.1 => /lib/x86_64-linux-gnu/libmount.so.1 (0x00007f4523430000)
libselinux.so.1 => /lib/x86_64-linux-gnu/libselinux.so.1 (0x00007f4523405000)
libresolv.so.2 => /lib/x86_64-linux-gnu/libresolv.so.2 (0x00007f45233e9000)
libpangoft2-1.0.so.0 => /lib/x86_64-linux-gnu/libpangoft2-1.0.so.0 (0x00007f45233d0000)
libfribidi.so.0 => /lib/x86_64-linux-gnu/libfribidi.so.0 (0x00007f45233b3000)
libthai.so.0 => /lib/x86_64-linux-gnu/libthai.so.0 (0x00007f45233a8000)
libharfbuzz.so.0 => /lib/x86_64-linux-gnu/libharfbuzz.so.0 (0x00007f45232a1000)
libexpat.so.1 => /lib/x86_64-linux-gnu/libexpat.so.1 (0x00007f4523273000)
libuuid.so.1 => /lib/x86_64-linux-gnu/libuuid.so.1 (0x00007f452326a000)
libXau.so.6 => /lib/x86_64-linux-gnu/libXau.so.6 (0x00007f4523264000)
libXdmcp.so.6 => /lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007f452325c000)
libscotcherr-6.so => /lib/x86_64-linux-gnu/libscotcherr-6.so (0x00007f4523257000)
libbz2.so.1.0 => /lib/x86_64-linux-gnu/libbz2.so.1.0 (0x00007f4523242000)
libblkid.so.1 => /lib/x86_64-linux-gnu/libblkid.so.1 (0x00007f45231eb000)
libpcre2-8.so.0 => /lib/x86_64-linux-gnu/libpcre2-8.so.0 (0x00007f452315b000)
libdatrie.so.1 => /lib/x86_64-linux-gnu/libdatrie.so.1 (0x00007f4523151000)
libgraphite2.so.3 => /lib/x86_64-linux-gnu/libgraphite2.so.3 (0x00007f4523124000)
meanwhile
ldconfig -p | grep qpOASESreturns nothing.
although I have installed it, here the install log:
simone@IITICUBLAP249:~/qpOASES/build$ sudo make install
[sudo] password for simone:
[ 46%] Built target qpOASES
[ 51%] Built target qrecipe
[ 56%] Built target example2
[ 60%] Built target example1a
[ 65%] Built target example1b
[ 70%] Built target example1
[ 75%] Built target example5
[ 80%] Built target example3
[ 85%] Built target example3b
[ 90%] Built target example4
[ 95%] Built target exampleLP
[100%] Built target qrecipeSchur
Install the project...
-- Install configuration: "Release"
-- Installing: /usr/local/lib/libqpOASES.a
-- Installing: /usr/local/include/qpOASES.hpp
-- Up-to-date: /usr/local/include/qpOASES
-- Installing: /usr/local/include/qpOASES/SQProblemSchur.ipp
-- Installing: /usr/local/include/qpOASES/Indexlist.ipp
-- Installing: /usr/local/include/qpOASES/Flipper.hpp
-- Installing: /usr/local/include/qpOASES/Constraints.ipp
-- Installing: /usr/local/include/qpOASES/LapackBlasReplacement.hpp
-- Up-to-date: /usr/local/include/qpOASES/extras
-- Installing: /usr/local/include/qpOASES/extras/OQPinterface.hpp
-- Installing: /usr/local/include/qpOASES/extras/SolutionAnalysis.hpp
-- Installing: /usr/local/include/qpOASES/extras/SolutionAnalysis.ipp
-- Installing: /usr/local/include/qpOASES/Constants.hpp
-- Installing: /usr/local/include/qpOASES/MessageHandling.ipp
-- Installing: /usr/local/include/qpOASES/Matrices.hpp
-- Installing: /usr/local/include/qpOASES/Constraints.hpp
-- Installing: /usr/local/include/qpOASES/QProblem.ipp
-- Installing: /usr/local/include/qpOASES/SQProblemSchur.hpp
-- Installing: /usr/local/include/qpOASES/SQProblem.hpp
-- Installing: /usr/local/include/qpOASES/ConstraintProduct.hpp
-- Installing: /usr/local/include/qpOASES/QProblemB.hpp
-- Installing: /usr/local/include/qpOASES/SQProblem.ipp
-- Installing: /usr/local/include/qpOASES/Indexlist.hpp
-- Installing: /usr/local/include/qpOASES/QProblemB.ipp
-- Installing: /usr/local/include/qpOASES/SubjectTo.hpp
-- Installing: /usr/local/include/qpOASES/UnitTesting.hpp
-- Installing: /usr/local/include/qpOASES/Utils.ipp
-- Installing: /usr/local/include/qpOASES/QProblem.hpp
-- Installing: /usr/local/include/qpOASES/MessageHandling.hpp
-- Installing: /usr/local/include/qpOASES/Bounds.hpp
-- Installing: /usr/local/include/qpOASES/Utils.hpp
-- Installing: /usr/local/include/qpOASES/SubjectTo.ipp
-- Installing: /usr/local/include/qpOASES/Bounds.ipp
-- Installing: /usr/local/include/qpOASES/SparseSolver.hpp
-- Installing: /usr/local/include/qpOASES/Types.hpp
-- Installing: /usr/local/include/qpOASES/Options.hpp
simone@IITICUBLAP249:~/qpOASES/build$
when building walking-controller I also had this strange error (related to qpOASES):
simone@IITICUBLAP249:~/walking-controllers/build$ make
[ 5%] Built target YarpUtilities
[ 7%] Linking CXX shared library ../../lib/libWalkingControllersiDynTreeUtilities.so
[ 10%] Built target iDynTreeUtilities
[ 15%] Built target TimeProfiler
[ 17%] Linking CXX shared library ../../lib/libWalkingControllersSimplifiedModelControllers.so
[ 27%] Built target SimplifiedModelControllers
[ 30%] Linking CXX shared library ../../lib/libWalkingControllersRobotInterface.so
[ 35%] Built target RobotInterface
[ 37%] Linking CXX shared library ../../lib/libWalkingControllersKinDynWrapper.so
[ 40%] Built target KinDynWrapper
[ 42%] Linking CXX shared library ../../lib/libWholeBodyControllers.so
/usr/bin/ld: /usr/local/lib/libqpOASES.a(QProblem.cpp.o): relocation R_X86_64_PC32 against symbol `_ZNK7qpOASES8QProblem5getNZEv' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: final link failed: bad value
collect2: error: ld returned 1 exit status
make[2]: *** [src/WholeBodyControllers/CMakeFiles/WholeBodyControllers.dir/build.make:154: lib/libWholeBodyControllers.so.0.5.100] Error 1
make[1]: *** [CMakeFiles/Makefile2:612: src/WholeBodyControllers/CMakeFiles/WholeBodyControllers.dir/all] Error 2
make: *** [Makefile:130: all] Error 2
It is quite strange that qpOASES gets compiled as a static library, it should be compiled as a shared (see https://github.com/robotology-dependencies/qpOASES/blob/master/CMakeLists.txt#L113). Can you report:
~/qpOASES/build/CMakeCache.txtnm /usr/local/lib/libqpOASES.a | grep gemmwhich WalkingController| grep gemmAs a side note, there is any reason why you did not used the robotology-superbuild or at least install everything in a specific install location instead of /usr/local?
traversaro
commented
2 years ago when building walking-controller I also had this strange error (related to qpOASES):
I guess this problem did not occur before? (Note: the error is expected if you compile qpOASES as a static library).
SimoneMic
commented
2 years ago It is quite strange that
qpOASESgets compiled as a static library, it should be compiled as a shared (see https://github.com/robotology-dependencies/qpOASES/blob/master/CMakeLists.txt#L113). Can you report:* The content of the file `~/qpOASES/build/CMakeCache.txt` * The output of `nm /usr/local/lib/libqpOASES.a | grep gemm` * The output of readelf -s `which WalkingController`| grep gemmAs a side note, there is any reason why you did not used the robotology-superbuild or at least install everything in a specific install location instead of
/usr/local?
1)
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2)
simone@IITICUBLAP249:~$ nm /usr/local/lib/libqpOASES.a | grep gemm
0000000000000000 T dgemm_
00000000000007d0 T sgemm_
U dgemm_
simone@IITICUBLAP249:~$ 3)
simone@IITICUBLAP249:~$ readelf -s which WalkingController| grep gemm
readelf: Error: 'which': No such file
readelf: Error: 'WalkingController': No such fileA solution that I found is to build qpOASES with cmake -DCMAKE_POSITION_INDEPENDENT_CODE=ON .. && make -j
but it still doesn't work after rebuilding and installing qpOASES and idyntree.
I have installed ipopt using sudo apt install coinor-libipopt-dev. I will try from source tomorrow.
Maybe I need to clean these libraries and start from clean.
traversaro
commented
2 years ago simone@IITICUBLAP249:~$ nm /usr/local/lib/libqpOASES.a | grep gemm 0000000000000000 T dgemm_ 00000000000007d0 T sgemm_ U dgemm_ simone@IITICUBLAP249:~$
That is the problem! qpOASES should not provide that symbol dgemm_ (T means that the symbol is provided in the library).
Anyhow, it seems that qpOASES is compiled as static, I suggest to enable the BUILD_SHARED_LIBS and reinstall it (ideally after removing the /usr/local/lib/libqpOASES.a to avoid having it around).
I have installed ipopt using sudo apt install coinor-libipopt-dev. I will try from source tomorrow. Maybe I need to clean these libraries and start from clean.
Personally, I would avoid to do that. The problem is that the apt mumps for some reason is calling the wrong dgemm_ symbol by qpOASES provides it. I am afraid that compiling even more thing from source and installing them in /usr/local will just make the system more difficult to debug, no more.
traversaro
commented
2 years ago To debug the issue even more, can you provide the full output of nm /usr/local/lib/libqpOASES.a? That should tell us which compilation unit (i.e. source file) actually inserted the problematic dgemm_ symbol. Are you sure that you do not have any other qpOASES installed in the system? In that case, is possible that the wrong include of qpOASES is used, resulting in that symbol being generated. You can check this with sudo updatedb && locate qpOASES.hpp.
SimoneMic
commented
2 years ago Tomorrow I will check, thanks
Get Outlook for Androidhttps://aka.ms/AAb9ysg
From: Silvio Traversaro @.> Sent: Thursday, February 10, 2022 7:43:06 PM To: robotology/walking-controllers @.> Cc: Simone Micheletti @.>; Author @.> Subject: Re: [robotology/walking-controllers] Segmentation Fault error at prepareRobot in Gazebo (Issue #104)
To debug the issue even more, can you provide the full output of nm /usr/local/lib/libqpOASES.a? That should tell us which compilation unit (i.e. source file) actually inserted the problematic dgemm_ symbol. Are you sure that you do not have any other qpOASES installed in the system? In that case, is possible that the wrong include of qpOASES is used, resulting in that symbol being generated. You can check this with sudo updatedb && locate qpOASES.hpp.
— Reply to this email directly, view it on GitHubhttps://github.com/robotology/walking-controllers/issues/104#issuecomment-1035321115, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AUXEKH5NY2HC5NAF2YXAOQ3U2QBLVANCNFSM5OBHMKDQ. Triage notifications on the go with GitHub Mobile for iOShttps://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Androidhttps://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub. You are receiving this because you authored the thread.Message ID: @.***>
SimoneMic
commented
2 years ago Here the location of qpOASES.hpp:
simone@IITICUBLAP249:~$ sudo updatedb && locate qpOASES.hpp
/home/simone/qpOASES/include/qpOASES.hpp
/usr/local/include/qpOASES.hpphere the output of nm /usr/local/lib/libqpOASES.a:
simone@IITICUBLAP249:~$ nm /usr/local/lib/libqpOASES.a
BLASReplacement.cpp.o:
0000000000000000 T dgemm_
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Constraints.cpp.o:
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Options.cpp.o:
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QProblem.cpp.o:
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U _ZnamIt seems that the BLASReplacement.cpp file defines the dgemm_ function, but this is quite strange as it should not be defined. Could you attach the following files:
/home/simone/qpOASES/src/BLASReplacement.cpp/home/simone/qpOASES/include/qpOASES/LapackBlasReplacement.hpp/usr/local/include/qpOASES/LapackBlasReplacement.hpptraversaro
commented
2 years ago Even better, can you zip and attach the directory /home/simone/qpOASES? Thanks!
SimoneMic
commented
2 years ago Here's the folder, I've omitted the .git folder because it was too heavy for the upload on git. But if you need it I can divide it and upload it.
here /usr/local/include/qpOASES/LapackBlasReplacement.hpp instead: lapackBlasReplacement.zip
traversaro
commented
2 years ago Thanks!
I've installed qpOases from source here https://github.com/robotology-dependencies/qpOASES
Are you sure? From the content of the directory it seems that you cloned it from https://github.com/coin-or/qpOASES . You can easily check by running git remote show origin. In any case if you use coin-or/qpOASES instead of robotology-dependencies/qpOASES you should be able to solve your problem by setting to ON the option QPOASES_AVOID_LA_NAMING_CONFLICTS (see https://github.com/coin-or/qpOASES/pull/108). In any case, remember to set to ON also BUILD_SHARED_LIBS.
SimoneMic
commented
2 years ago The first time was from the robotology superbuild. Then yesterday I tried from coin-ot, but they gave the same results. I will try reinstalling from robotology and recompiling
traversaro
commented
2 years ago Using the one from coin-or is perfectly fine, just enable the option I mentioned you. In general, if you change something please report it, otherwise it is difficult to help you.
SimoneMic
commented
2 years ago Closing the issue.
I've removed the old files present in /usr/local using the command xargs rm < install_manifest.txt in qpOASES and walking-controllers as @traversaro suggested.
Then rebuilt and installed: qpOASES with QPOASES_AVOID_LA_NAMING_CONFLICTS ON + BUILD_SHARED_LIBS ON, and walking-controllers afterwards.
Now the issue is solved. Thanks all!
Hello,
I am using icub 2.5 in simulation on Gazebo. I am following all the steps in and it all works fine untill the step 7 at prepareRobot command there's a segmentation fault error
cc @lrapetti