make error

[yuxiqun]

When I according to "
git clone https://github.com/khancyr/ardupilot_gazebo
cd ardupilot_gazebo
mkdir build
cd build
cmake ..
make -j4
sudo make install",
all is right in orders but when it come to 'make -j4', the error is

Why? Thank you!

[khancyr]

Hello,

Which version of ubuntu, and gazebo do you have ?

[yuxiqun]

I use ubuntu 16.04 and gazebo 9.6.0. And I build the develop environment ,according to "http://gazebosim.org/tutorials?tut=install_ubuntu" where I found in your repositories "ardupilot_gazebo/README.md/Usage"。 @khancyr Thanks for your reply!

[khancyr]

I don't see error on my side. Could you update everything with sudo apt update && sudo apt upgrade ?

[yuxiqun]

This my ubuntu system message:
yxq@ubuntu:~$ cat /etc/issue
Ubuntu 16.04.5 LTS \n \l

yxq@ubuntu:$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 16.04.5 LTS
Release: 16.04
Codename: xenial
yxq@ubuntu:$ uname -sr
Linux 4.15.0-43-generic

After git clone your "ardupilot_gazebo" code, I did "cmake":
yxq@ubuntu:~/ardupilot_gazebo/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Checking for module 'bullet>=2.82'
-- Found bullet, version 2.83
-- Found Simbody: /usr/include/simbody
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- thread
-- system
-- filesystem
-- program_options
-- regex
-- iostreams
-- date_time
-- chrono
-- atomic
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so
-- Boost version: 1.58.0
-- Looking for OGRE...
-- OGRE_PREFIX_WATCH changed.
-- Checking for module 'OGRE'
-- Found OGRE, version 1.9.0
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so (Required is at least version "2.3.0")
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
-- Found libzmq , version 4.1.4
-- Found ZeroMQ: TRUE (Required is at least version "4")
-- Checking for module 'uuid'
-- Found uuid, version 2.27.0
-- Found UUID: TRUE
-- Checking for module 'tinyxml2'
-- Found tinyxml2, version 2.2.0
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- Found DL: TRUE
-- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES
-- Checking for module 'gts'
-- Found gts, version 0.7.6
-- Found GTS: TRUE
-- Checking for module 'libswscale'
-- Found libswscale, version 3.1.101
-- Found SWSCALE: TRUE
-- Checking for module 'libavdevice >= 56.4.100'
-- Found libavdevice , version 56.4.100
-- Found AVDEVICE: TRUE (Required is at least version "56.4.100")
-- Checking for module 'libavformat'
-- Found libavformat, version 56.40.101
-- Found AVFORMAT: TRUE
-- Checking for module 'libavcodec'
-- Found libavcodec, version 56.60.100
-- Found AVCODEC: TRUE
-- Checking for module 'libavutil'
-- Found libavutil, version 54.31.100
-- Found AVUTIL: TRUE
-- Found CURL: /usr/lib/x86_64-linux-gnu/libcurl.so (found version "7.47.0")
-- Checking for module 'jsoncpp'
-- Found jsoncpp, version 1.7.2
-- Found JSONCPP: TRUE
-- Checking for module 'yaml-0.1'
-- Found yaml-0.1, version 0.1.6
-- Found YAML: TRUE
-- Checking for module 'libzip'
-- Found libzip, version 1.0.1
-- Found ZIP: TRUE
Gazebo version: 9.6
-- Performing Test R-Wall
-- Performing Test R-Wall - Success
-- Performing Test R-Wextra
-- Performing Test R-Wextra - Success
-- Performing Test R-Wno-long-long
-- Performing Test R-Wno-long-long - Success
-- Performing Test R-Wno-unused-value
-- Performing Test R-Wno-unused-value - Success
-- Performing Test R-Wfloat-equal
-- Performing Test R-Wfloat-equal - Success
-- Performing Test R-Wshadow
-- Performing Test R-Wshadow - Success
-- Performing Test R-Wswitch-default
-- Performing Test R-Wswitch-default - Success
-- Performing Test R-Wmissing-include-dirs
-- Performing Test R-Wmissing-include-dirs - Success
-- Performing Test R-pedantic
-- Performing Test R-pedantic - Success
-- Performing Test R-fvisibility=hidden
-- Performing Test R-fvisibility=hidden - Success
-- Performing Test R-fvisibility-inlines-hidden
-- Performing Test R-fvisibility-inlines-hidden - Success
-- Configuring done
-- Generating done
-- Build files have been written to: /home/yxq/ardupilot_gazebo/build

Next，I did "make",the error is ：
yxq@ubuntu:~/ardupilot_gazebo/build$ make -j4
Scanning dependencies of target ArduPilotPlugin
Scanning dependencies of target ArduCopterIRLockPlugin
[ 25%] Building CXX object CMakeFiles/ArduPilotPlugin.dir/src/ArduPilotPlugin.cc.o
[ 50%] Building CXX object CMakeFiles/ArduCopterIRLockPlugin.dir/src/ArduCopterIRLockPlugin.cc.o
In file included from /usr/include/boost/type_index/stl_type_index.hpp:32:0,
from /usr/include/boost/type_index.hpp:29,
from /usr/include/boost/any.hpp:20,
from /usr/include/sdformat-6.1/sdf/Param.hh:23,
from /usr/include/sdformat-6.1/sdf/Element.hh:25,
from /usr/include/sdformat-6.1/sdf/sdf.hh:4,
from /home/yxq/ardupilot_gazebo/src/ArduPilotPlugin.cc:41:
/usr/include/boost/variant/get.hpp: In instantiation of ‘typename boost::add_reference::type boost::strict_get(boost::variant<T0, TN ...>&) [with U = short unsigned int; T0 = bool; TN = {char, std::__cxx11::basic_string<char, std::char_traits, std::allocator >, int, long unsigned int, unsigned int, double, float, sdf::Time, ignition::math::v4::Color, ignition::math::v4::Vector2, ignition::math::v4::Vector2, ignition::math::v4::Vector3, ignition::math::v4::Quaternion, ignition::math::v4::Pose3}; typename boost::add_reference::type = short unsigned int&]’:
/usr/include/boost/variant/get.hpp:284:25: required from ‘typename boost::add_reference::type boost::get(boost::variant<T0, TN ...>&) [with U = short unsigned int; T0 = bool; TN = {char, std::__cxx11::basic_string<char, std::char_traits, std::allocator >, int, long unsigned int, unsigned int, double, float, sdf::Time, ignition::math::v4::Color, ignition::math::v4::Vector2, ignition::math::v4::Vector2, ignition::math::v4::Vector3, ignition::math::v4::Quaternion, ignition::math::v4::Pose3}; typename boost::add_reference::type = short unsigned int&]’
/usr/include/sdformat-6.1/sdf/Param.hh:296:31: required from ‘bool sdf::Param::Get(T&) const [with T = short unsigned int]’
/usr/include/sdformat-6.1/sdf/Element.hh:454:7: required from ‘std::pair<T, bool> sdf::Element::Get(const string&, const T&) const [with T = short unsigned int; std::__cxx11::string = std::__cxx11::basic_string]’
/home/yxq/ardupilot_gazebo/src/ArduPilotPlugin.cc:879:57: required from here
/usr/include/boost/variant/get.hpp:212:5: error: static assertion failed: boost::variant does not contain specified type U, call to boost::get(boost::variant<T...>&) will always throw boost::bad_get exception
BOOST_STATIC_ASSERT_MSG(
^
CMakeFiles/ArduPilotPlugin.dir/build.make:62: recipe for target 'CMakeFiles/ArduPilotPlugin.dir/src/ArduPilotPlugin.cc.o' failed
make[2]: *** [CMakeFiles/ArduPilotPlugin.dir/src/ArduPilotPlugin.cc.o] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/ArduPilotPlugin.dir/all' failed
make[1]: *** [CMakeFiles/ArduPilotPlugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Could you find any clue from above message?

[yuxiqun]

I have update everything with" sudo apt update" and "sudo apt upgrade", restart virtual machine. I did "cmake" and "make", the message is same as my previous reply .

[SteveJos]

@yuxiqun Please do a boost upgrade to the latest version. Ubuntu 16.04 stock version is 1.58, which is apparently too old for ardupilot_gazebo plugin.

[yuxiqun]

@SteveJos I have upgarde ubuntu from 16.04 LTS to 18.04 LTS, gazebo is still 9.6.0, and "the make error" is solved! Thanks!

[r0ch1n]

I need to run a ROS version which is only available under 16.04 so upgrading to 18.04 is not an option.

After running make -j4 I get this output:

frank@ubuntu:~/ardupilot_gazebo/build$ make -j4
Scanning dependencies of target ArduCopterIRLockPlugin
Scanning dependencies of target ArduPilotPlugin
[ 25%] Building CXX object CMakeFiles/ArduCopterIRLockPlugin.dir/src/ArduCopterIRLockPlugin.cc.o
[ 50%] Building CXX object CMakeFiles/ArduPilotPlugin.dir/src/ArduPilotPlugin.cc.o
In file included from /usr/include/boost/type_index/stl_type_index.hpp:32:0,
from /usr/include/boost/type_index.hpp:29,
from /usr/include/boost/any.hpp:20,
from /usr/include/sdformat-6.2/sdf/Param.hh:21,
from /usr/include/sdformat-6.2/sdf/Element.hh:25,
from /usr/include/sdformat-6.2/sdf/sdf.hh:4,
from /home/frank/ardupilot_gazebo/src/ArduPilotPlugin.cc:41:
/usr/include/boost/variant/get.hpp: In instantiation of ‘typename boost::add_reference::type boost::strict_get(boost::variant<T0, TN ...>&) [with U = short unsigned int; T0 = bool; TN = {char, std::__cxx11::basic_string<char, std::char_traits, std::allocator >, int, long unsigned int, unsigned int, double, float, sdf::Time, ignition::math::v4::Color, ignition::math::v4::Vector2, ignition::math::v4::Vector2, ignition::math::v4::Vector3, ignition::math::v4::Quaternion, ignition::math::v4::Pose3}; typename boost::add_reference::type = short unsigned int&]’:
/usr/include/boost/variant/get.hpp:284:25: required from ‘typename boost::add_reference::type boost::get(boost::variant<T0, TN ...>&) [with U = short unsigned int; T0 = bool; TN = {char, std::__cxx11::basic_string<char, std::char_traits, std::allocator >, int, long unsigned int, unsigned int, double, float, sdf::Time, ignition::math::v4::Color, ignition::math::v4::Vector2, ignition::math::v4::Vector2, ignition::math::v4::Vector3, ignition::math::v4::Quaternion, ignition::math::v4::Pose3}; typename boost::add_reference::type = short unsigned int&]’
/usr/include/sdformat-6.2/sdf/Param.hh:300:31: required from ‘bool sdf::Param::Get(T&) const [with T = short unsigned int]’
/usr/include/sdformat-6.2/sdf/Element.hh:454:7: required from ‘std::pair<T, bool> sdf::Element::Get(const string&, const T&) const [with T = short unsigned int; std::__cxx11::string = std::__cxx11::basic_string]’
/home/frank/ardupilot_gazebo/src/ArduPilotPlugin.cc:879:57: required from here
/usr/include/boost/variant/get.hpp:212:5: error: static assertion failed: boost::variant does not contain specified type U, call to boost::get(boost::variant<T...>&) will always throw boost::bad_get exception
BOOST_STATIC_ASSERT_MSG(
^
CMakeFiles/ArduPilotPlugin.dir/build.make:62: recipe for target 'CMakeFiles/ArduPilotPlugin.dir/src/ArduPilotPlugin.cc.o' failed
make[2]: *** [CMakeFiles/ArduPilotPlugin.dir/src/ArduPilotPlugin.cc.o] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/ArduPilotPlugin.dir/all' failed
make[1]: *** [CMakeFiles/ArduPilotPlugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 75%] Linking CXX shared library libArduCopterIRLockPlugin.so
[ 75%] Built target ArduCopterIRLockPlugin
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

After a lot of digging I found this issue ethereum/solidity#4124

The problem seems to be the Boost Version, no idea how to fix it but as a workaround I modified the following file /usr/include/sdformat-6.2/sdf/Param.hh in line 300 as follows.

299 #if BOOST_VERSION < 105800
300 // _value = boost::get(this->dataPtr->value);
301 _value = boost::relaxed_get(this->dataPtr->value);
302 #else
303 _value = boost::relaxed_get(this->dataPtr->value);
304 #endif

After this change I was able to run make using Ubuntu 16.04 and gazebo 9.6.0!

Best or lucks

I recommend returning the file to its original code after compiling and installing.

[mohammedshafeeqet]

@r0ch1n 's changes worked for me as well. Thanks :)

[mhashimoto-hmk]

I got the same error and solved by changing <uint16_t> to <uint32_t>
at ArdupilotPlugin.cc Line 879 and 881.

I've got no side effect so far.