catkin build /usr/bin/ld: cannot find -lReflexxesTypeII under ROS Kinetic

[keshuaixu]

I'm attempting to build cisst-saw with catkin build in a fresh catkin workspace. I tried both master and devel branch and they produce the same error. reverting cisst submodule to 1.0.8 tag produces a different dependency error.

ROS Kinetic, Ubuntu 16.04

Building with ROS Indigo and Ubuntu 14.04 works.

Errors     << cisst:make /home/cos/pmd-dvrk/logs_release/cisst/build.make.001.log                                                     
/usr/bin/ld: cannot find -lReflexxesTypeII
collect2: error: ld returned 1 exit status
make[2]: *** [/home/cos/pmd-dvrk/devel_release/.private/cisst/bin/cisstRandomJoints] Error 1
make[1]: *** [cisstRobot/applications/cisstRandomJoints/CMakeFiles/cisstRandomJoints.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: cannot find -lReflexxesTypeII
collect2: error: ld returned 1 exit status
make[2]: *** [/home/cos/pmd-dvrk/devel_release/.private/cisst/bin/cisstForwardKinematics] Error 1
make[1]: *** [cisstRobot/applications/cisstForwardKinematics/CMakeFiles/cisstForwardKinematics.dir/all] Error 2
/usr/bin/ld: cannot find -lReflexxesTypeII
collect2: error: ld returned 1 exit status
make[2]: *** [/home/cos/pmd-dvrk/devel_release/.private/cisst/bin/cisstKinematicsIdentification] Error 1
make[1]: *** [cisstRobot/applications/cisstKinematicsIdentification/CMakeFiles/cisstKinematicsIdentification.dir/all] Error 2
/usr/bin/ld: cannot find -lReflexxesTypeII
collect2: error: ld returned 1 exit status
make[2]: *** [/home/cos/pmd-dvrk/devel_release/.private/cisst/bin/cisstRobotSensorCalibration] Error 1
make[1]: *** [cisstRobot/applications/cisstRobotSensorCalibration/CMakeFiles/cisstRobotSensorCalibration.dir/all] Error 2
make: *** [all] Error 2
cd /home/cos/pmd-dvrk/build_release/cisst; catkin build --get-env cisst | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

Any help will be appreciated.

[adeguet1]

I can't reproduce your problem on a couple of computers (Ubuntu 16.04/kinetic and 17.04/lunar). I did:

• apt update
• apt upgrade
• catkin clean --yes
• catkin build cisst

At that point cisst builds without errors. To note, all the CMake configurations for cisst predate catkin and we build multiple CMake projects in a single Catkin package. Some of the cisst related binaries can only be built in two passes. You first need to build cisst without any user options and then use ccmake to tweak your build before doing another catkin build. The steps would be:

• catkin build cisst
• In same shell (to preserve ROS environment variables), ccmake <catkin_ws>/build/cisst
• In CMake, configure and generate
• catkin build --force-cmake

If that doesn't work, can you write up all the steps you took?

[zchen24]

Hi Keshuai, Could you try this repository? Please clone it into your catkin workspace source directory, then build it with *catkin build reflexxes_type2* https://github.com/jhu-lcsr/reflexxes_type2 Then do normal cisst/saw build. Thanks, Zihan

…

On Sun, Dec 17, 2017 at 9:23 PM, Keshuai Xu ***@***.***> wrote: I'm attempting to build cisst-saw with catkin build in a fresh catkin workspace. I tried both master and devel branch and they produce the same error. reverting cisst submodule to 1.0.8 tag produces a different dependency error. ROS Kinetic, Ubuntu 16.04 Errors << cisst:make /home/cos/pmd-dvrk/logs_release/cisst/build.make.001.log /usr/bin/ld: cannot find -lReflexxesTypeII collect2: error: ld returned 1 exit status make[2]: *** [/home/cos/pmd-dvrk/devel_release/.private/cisst/bin/cisstRandomJoints] Error 1 make[1]: *** [cisstRobot/applications/cisstRandomJoints/CMakeFiles/cisstRandomJoints.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... /usr/bin/ld: cannot find -lReflexxesTypeII collect2: error: ld returned 1 exit status make[2]: *** [/home/cos/pmd-dvrk/devel_release/.private/cisst/bin/cisstForwardKinematics] Error 1 make[1]: *** [cisstRobot/applications/cisstForwardKinematics/CMakeFiles/cisstForwardKinematics.dir/all] Error 2 /usr/bin/ld: cannot find -lReflexxesTypeII collect2: error: ld returned 1 exit status make[2]: *** [/home/cos/pmd-dvrk/devel_release/.private/cisst/bin/cisstKinematicsIdentification] Error 1 make[1]: *** [cisstRobot/applications/cisstKinematicsIdentification/CMakeFiles/cisstKinematicsIdentification.dir/all] Error 2 /usr/bin/ld: cannot find -lReflexxesTypeII collect2: error: ld returned 1 exit status make[2]: *** [/home/cos/pmd-dvrk/devel_release/.private/cisst/bin/cisstRobotSensorCalibration] Error 1 make[1]: *** [cisstRobot/applications/cisstRobotSensorCalibration/CMakeFiles/cisstRobotSensorCalibration.dir/all] Error 2 make: *** [all] Error 2 cd /home/cos/pmd-dvrk/build_release/cisst; catkin build --get-env cisst | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd - Any help will be appreciated. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#49>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ACpvT85WnFWh4sB4tupvTCzYl-qSOEBOks5tBfbXgaJpZM4RE_SF> .

-- Zihan Chen

[keshuaixu]

Thank you Anton and Zihan!

It's because my catkin extend config was incorrect. It included other workspaces that contain an old version of cisst-saw. I removed these workspaces from the catkin config and cisst builds correctly.

Sorry for my ignorance.

Extending:          [cached] /home/cos/cisst_ws/devel_release:/home/cos/catkin_ws/devel:/opt/ros/kinetic
Workspace:                   /home/cos/pmd-dvrk2