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unitreerobotics / unitree_ros

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Cannot find -lunitree_legged_sdk_amd64 #54

Closed JulienRineau closed 1 year ago

JulienRineau commented 1 year ago

Hi, when I try to catkin_make I obtain this error:

[ 82%] Building CXX object unitree_ros_to_real/unitree_legged_real/CMakeFiles/walk_lcm.dir/src/exe/walk_mode.cpp.o
[ 83%] Building CXX object unitree_ros_to_real/unitree_legged_real/CMakeFiles/position_lcm.dir/src/exe/position_mode.cpp.o
/usr/bin/ld: skipping incompatible /home/parallels/capstone/capstone_ws/src/unitree_legged_sdk/lib/libunitree_legged_sdk_amd64.so when searching for -lunitree_legged_sdk_amd64
/usr/bin/ld: cannot find -lunitree_legged_sdk_amd64
collect2: error: ld returned 1 exit status
make[2]: *** [unitree_ros_to_real/unitree_legged_real/CMakeFiles/torque_lcm.dir/build.make:101: /home/parallels/capstone/capstone_ws/devel/lib/unitree_legged_real/torque_lcm] Error 1
make[1]: *** [CMakeFiles/Makefile2:2697: unitree_ros_to_real/unitree_legged_real/CMakeFiles/torque_lcm.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 85%] Linking CXX executable /home/parallels/capstone/capstone_ws/devel/lib/unitree_legged_real/walk_lcm
[ 86%] Linking CXX executable /home/parallels/capstone/capstone_ws/devel/lib/unitree_legged_real/position_lcm
/usr/bin/ld: skipping incompatible /home/parallels/capstone/capstone_ws/src/unitree_legged_sdk/lib/libunitree_legged_sdk_amd64.so when searching for -lunitree_legged_sdk_amd64
/usr/bin/ld: cannot find -lunitree_legged_sdk_amd64
collect2: error: ld returned 1 exit status
make[2]: *** [unitree_ros_to_real/unitree_legged_real/CMakeFiles/position_lcm.dir/build.make:101: /home/parallels/capstone/capstone_ws/devel/lib/unitree_legged_real/position_lcm] Error 1
make[1]: *** [CMakeFiles/Makefile2:2753: unitree_ros_to_real/unitree_legged_real/CMakeFiles/position_lcm.dir/all] Error 2
/usr/bin/ld: skipping incompatible /home/parallels/capstone/capstone_ws/src/unitree_legged_sdk/lib/libunitree_legged_sdk_amd64.so when searching for -lunitree_legged_sdk_amd64
/usr/bin/ld: cannot find -lunitree_legged_sdk_amd64
collect2: error: ld returned 1 exit status
make[2]: *** [unitree_ros_to_real/unitree_legged_real/CMakeFiles/walk_lcm.dir/build.make:101: /home/parallels/capstone/capstone_ws/devel/lib/unitree_legged_real/walk_lcm] Error 1
make[1]: *** [CMakeFiles/Makefile2:2641: unitree_ros_to_real/unitree_legged_real/CMakeFiles/walk_lcm.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j4 -l4" failed

What I have done is following this pdf tutorial from @andrewhstovell

Can someone help me please ?

andrewhstovell commented 1 year ago 
skipping incompatible /home/parallels/capstone/capstone_ws/src/unitree_legged_sdk/lib/libunitree_legged_sdk_amd64.so when searching for -lunitree_legged_sdk_amd64

Is your machine ARM based? If so, in unitree_legged_sdk/CMakeFiles.txt change line 10

FROM: set(EXTRA_LIBS -pthread libunitree_legged_sdk_amd64.so lcm)

TO: set(EXTRA_LIBS -pthread libunitree_legged_sdk_arm64.so lcm)

Going off on a tangent, i've learned that my tutorial is very incomplete. I will make a point to update it, perhaps even put out a getting started video.

My tutorial focuses on unitree_ros_to_real v3.4.0 in combination with unitree_legged_sdk v3.4.2

However, i've since learned that more recently made Go1 robots likely aren't compatible with this SDK version, as they have newer software installed (sport mode). So make sure to check your robot is compatible with unitree_legged_sdk v3.4.2 either by connecting to it via wifi and checking the currently installed software and firmware against the ReadME, or better yet, by running the example_walk after building. Assuming that you've set up your ethernet connection correctly and have been able to ping 192.168.123.161 successfully, the quadruped should perform a range of movements, if nothing happens, its likely to be a compatability thing.

unitree_ros_to_real has recently had some bug fixes for v3.5.1 and has released v3.8.0 (compatible with unitree_legged_sdk of same versions) so, when i do re-write the tutorial i'll be sure to include instructions depending on the combination people need/want to use, and ill also be sure in include LCM and CMake build instructions, along with connection instructions which are currently missing. :)

JulienRineau commented 1 year ago

Thanks ! I've encountered several other problems. Ive summarized everything I've done to make it works on this pdf tutorial based on yours. Hope it can help others