Build Error on Kinetic

[AshleyF]

catkin_make shows the following error:

[AshleyF]

Indeed, the includes (1.9.2prerelease) which I got from the links in the readme don't include such a constructor:

[reed-adept]

Try the most recent prerelease (20160613), it includes the new constructor. The final 1.9.2 release will be soon.

[AshleyF]

Thank you very much for the quick reply!

I had grabbed the latest *_amd64.deb from the prerelease site. Didn't notice that there were newer i386 packages.

Now, I have libarnl_1.9.2prerelease20160613+ubuntu12+gcc4.6_i386.deb and arnl-base_1.9.2prerelease20160613+ubuntu12+gcc4.6_i386.deb and see the following:

[100%] Linking CXX executable /home/ashleyf/proj/catkin_ws/devel/lib/rosarnl/rosarnl_node
/usr/bin/ld: skipping incompatible /usr/local/Arnl/lib/libArnl.so when searching for -lArnl
/usr/bin/ld: cannot find -lArnl
/usr/bin/ld: skipping incompatible /usr/local/Arnl/lib/libBaseArnl.so when searching for -lBaseArnl
/usr/bin/ld: cannot find -lBaseArnl
/usr/bin/ld: skipping incompatible /usr/local/Arnl/lib/libArNetworkingForArnl.so when searching for -lArNetworkingForArnl
/usr/bin/ld: cannot find -lArNetworkingForArnl
/usr/bin/ld: skipping incompatible /usr/local/Arnl/lib/libAriaForArnl.so when searching for -lAriaForArnl
/usr/bin/ld: cannot find -lAriaForArnl
collect2: error: ld returned 1 exit status
ros-arnl/CMakeFiles/rosarnl_node.dir/build.make:207: recipe for target '/home/ashleyf/proj/catkin_ws/devel/lib/rosarnl/rosarnl_node' failed
make[2]: *** [/home/ashleyf/proj/catkin_ws/devel/lib/rosarnl/rosarnl_node] Error 1
CMakeFiles/Makefile2:2537: recipe for target 'ros-arnl/CMakeFiles/rosarnl_node.dir/all' failed
make[1]: *** [ros-arnl/CMakeFiles/rosarnl_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j16 -l16" failed

[reed-adept]

“skipping incompatible” ususally means there is a mix of 32-bit and 64-bit libraries in the link. For building on an amd64 architecture, either wait for the 1.9.2 release which will have amd64 packages, or use all 32-bit libraries and use the –m32 flag with gcc:
export CXX=”g++ -m32”

From: AshleyF [mailto:notifications@github.com]
Sent: Monday, August 01, 2016 3:59 PM
To: MobileRobots/ros-arnl
Cc: Reed Hedges; Comment
Subject: Re: [MobileRobots/ros-arnl] Build Error (#20)

Thank you very much for the quick reply!

I had grabbed the latest *_amd64.deb from the prerelease site. Didn't notice that there were newer i386 packages.

Now, I have libarnl_1.9.2prerelease20160613+ubuntu12+gcc4.6_i386.deb and arnl-base_1.9.2prerelease20160613+ubuntu12+gcc4.6_i386.deb and see the following:

[100%] Linking CXX executable /home/ashleyf/proj/catkin_ws/devel/lib/rosarnl/rosarnl_node

/usr/bin/ld: skipping incompatible /usr/local/Arnl/lib/libArnl.so when searching for -lArnl

/usr/bin/ld: cannot find -lArnl

/usr/bin/ld: skipping incompatible /usr/local/Arnl/lib/libBaseArnl.so when searching for -lBaseArnl

/usr/bin/ld: cannot find -lBaseArnl

/usr/bin/ld: skipping incompatible /usr/local/Arnl/lib/libArNetworkingForArnl.so when searching for -lArNetworkingForArnl

/usr/bin/ld: cannot find -lArNetworkingForArnl

/usr/bin/ld: skipping incompatible /usr/local/Arnl/lib/libAriaForArnl.so when searching for -lAriaForArnl

/usr/bin/ld: cannot find -lAriaForArnl

collect2: error: ld returned 1 exit status

ros-arnl/CMakeFiles/rosarnl_node.dir/build.make:207: recipe for target '/home/ashleyf/proj/catkin_ws/devel/lib/rosarnl/rosarnl_node' failed

make[2]: *** [/home/ashleyf/proj/catkin_ws/devel/lib/rosarnl/rosarnl_node] Error 1

CMakeFiles/Makefile2:2537: recipe for target 'ros-arnl/CMakeFiles/rosarnl_node.dir/all' failed

make[1]: *** [ros-arnl/CMakeFiles/rosarnl_node.dir/all] Error 2

Makefile:138: recipe for target 'all' failed

make: *** [all] Error 2

Invoking "make -j16 -l16" failed

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[AshleyF]

Thanks again for the help!

Still pounding head against the wall. Struggled with getting i386 to build along with amd64. Now I've flattened to a 32-bit install of Ubuntu and using the i386 prerelease packages. I get a different error now:

[  2%] Building CXX object ros-arnl/CMakeFiles/rosarnl_node.dir/rosarnl_node.cpp.o
/home/ashleyf/proj/catkin_ws/src/ros-arnl/rosarnl_node.cpp:31:39: fatal error: rosarnl/JogPositionAction.h: No such file or directory
compilation terminated.

devel/share/rosarnl/msg contains .msg files, but devel/include/rosarnl is empty...

[reed-adept]

If you don't mind waiting a few days, I'll be testing ros-arnl as part of the 1.9.2 ARNL release. Make sure you have the same version of arnl-base installed as libarnl, and that they are both the same architecture. (Version dependencies aren't really in place between prereleases of the same version, since they are only meant as an easy way to distribute code for testing before an actual release.)

---

From: AshleyF [notifications@github.com]
Sent: Monday, August 01, 2016 9:26 PM
To: MobileRobots/ros-arnl
Cc: Reed Hedges; Comment
Subject: Re: [MobileRobots/ros-arnl] Build Error (#20)

Thanks again for the help!

Still pounding head against the wall. Struggled with getting i386 to build along with amd64. Now I've flattened to a 32-bit install of Ubuntu and using the i386 prerelease packages. I get a different error now:

[ 2%] Building CXX object ros-arnl/CMakeFiles/rosarnl_node.dir/rosarnl_node.cpp.o
/home/ashleyf/proj/catkin_ws/src/ros-arnl/rosarnl_node.cpp:31:39: fatal error: rosarnl/JogPositionAction.h: No such file or directory
compilation terminated.

I don't find this file anywhere.

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[AshleyF]

I'm trying to prepare a demo for Friday. If there's any known-good pairing of (even out) library/ros-arnl (old git commit), that would be great. Any suggestions?

Otherwise, I'm thinking to just make my own ROS node to do what I need (just sending goals and some small feedback of progress and the planned path). I know I can do this directly. The demo is specifically to show a Windows/ROS bridge I'm working on though...

Thanks very much, again

From: Reed Hedges
Sent: Tuesday, August 2, 03:41
Subject: Re: [MobileRobots/ros-arnl] Build Error (#20)
To: MobileRobots/ros-arnl
Cc: AshleyF, Author

If you don't mind waiting a little while, I'll be testing ros-arnl as part of the 1.9.2 ARNL release.

---

From: AshleyF [notifications@github.com]
Sent: Monday, August 01, 2016 9:26 PM
To: MobileRobots/ros-arnl
Cc: Reed Hedges; Comment
Subject: Re: [MobileRobots/ros-arnl] Build Error (#20)

Thanks again for the help!

Still pounding head against the wall. Struggled with getting i386 to build along with amd64. Now I've flattened to a 32-bit install of Ubuntu and using the i386 prerelease packages. I get a different error now:

[ 2%] Building CXX object ros-arnl/CMakeFiles/rosarnl_node.dir/rosarnl_node.cpp.o
/home/ashleyf/proj/catkin_ws/src/ros-arnl/rosarnl_node.cpp:31:39: fatal error: rosarnl/JogPositionAction.h: No such file or directory
compilation terminated.

I don't find this file anywhere.

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[reed-adept]

devel/include/rosarnl/JogPositionAction.h should have been generated by catkin (cmake rules for action definitions). You can try catkin_make --force-cmake --pkg rosarnl to re-run cmake.

[reed-adept]

I just created amd64 prerelease builds of libarnl and arnl-base if that helps anyone. They are 1.9.2prerelease20160802.

[AshleyF]

No luck with --force-make... 😬

Also, no luck with a completely fresh install of Ubuntu 16.04/ROS Kinetic:

ARNLBASE=arnl-base_1.9.2prerelease20160802+ubuntu12_amd64.deb
LIBARNL=libarnl_1.9.2prerelease20160802+ubuntu12_amd64.deb
CATKIN=~/proj/catkin

# install arnl-base
curl -O -u microsoft http://robots.mobilerobots.com/BaseArnl/download/prerelease/$ARNLBASE
sudo dpkg -i $ARNLBASE
rm -f $ARNLBASE

# install libarnl
curl -O -u microsoft http://robots.mobilerobots.com/ARNL/download/prerelease/$LIBARNL
sudo dpkg -i $LIBARNL
rm -f $LIBARNL

# ros-arnl
cd $CATKIN
git clone https://github.com/MobileRobots/ros-arnl src
catkin_make

Result:

[100%] Linking CXX executable /home/ashleyf/proj/setup/devel/lib/rosarnl/rosarnl_node
CMakeFiles/rosarnl_node.dir/ArnlSystem.cpp.o: In function `ArnlSystem::setup()':
ArnlSystem.cpp:(.text+0x1c4d): undefined reference to `ArServerHandlerMapping::ArServerHandlerMapping(ArServerBase*, ArRobot*, ArLaser*, char const*, char const*, bool, ArLaser*, char const*, char const*, std::__cxx11::list<ArLaser*, std::allocator<ArLaser*> >*)'
ArnlSystem.cpp:(.text+0x1ffa): undefined reference to `ArConfig::parseFile(char const*, bool, bool, char*, unsigned long, std::__cxx11::list<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >*, ArPriority::Priority, ArPriority::Priority, ArConfigArg::RestartLevel*)'
CMakeFiles/rosarnl_node.dir/ArnlSystem.cpp.o: In function `ArRangeDevice::getCurrentBuffer[abi:cxx11]() const':
ArnlSystem.cpp:(.text._ZNK13ArRangeDevice16getCurrentBufferB5cxx11Ev[_ZNK13ArRangeDevice16getCurrentBufferB5cxx11Ev]+0x18): undefined reference to `ArRangeBuffer::getBuffer[abi:cxx11]() const'
CMakeFiles/rosarnl_node.dir/ArnlSystem.cpp.o: In function `ArRangeDevice::getCumulativeBuffer[abi:cxx11]() const':
ArnlSystem.cpp:(.text._ZNK13ArRangeDevice19getCumulativeBufferB5cxx11Ev[_ZNK13ArRangeDevice19getCumulativeBufferB5cxx11Ev]+0x1a): undefined reference to `ArRangeBuffer::getBuffer[abi:cxx11]() const'
CMakeFiles/rosarnl_node.dir/ArnlSystem.cpp.o: In function `ArRangeDevice::getCurrentBuffer[abi:cxx11]()':
ArnlSystem.cpp:(.text._ZN13ArRangeDevice16getCurrentBufferB5cxx11Ev[_ZN13ArRangeDevice16getCurrentBufferB5cxx11Ev]+0x18): undefined reference to `ArRangeBuffer::getBuffer[abi:cxx11]()'
CMakeFiles/rosarnl_node.dir/ArnlSystem.cpp.o: In function `ArRangeDevice::getCumulativeBuffer[abi:cxx11]()':
ArnlSystem.cpp:(.text._ZN13ArRangeDevice19getCumulativeBufferB5cxx11Ev[_ZN13ArRangeDevice19getCumulativeBufferB5cxx11Ev]+0x1a): undefined reference to `ArRangeBuffer::getBuffer[abi:cxx11]()'
CMakeFiles/rosarnl_node.dir/LaserPublisher.cpp.o: In function `LaserPublisher::publishPointCloud()':
LaserPublisher.cpp:(.text+0x12bb): undefined reference to `ArRangeBuffer::getBuffer[abi:cxx11]()'
collect2: error: ld returned 1 exit status
CMakeFiles/rosarnl_node.dir/build.make:207: recipe for target '/home/ashleyf/proj/setup/devel/lib/rosarnl/rosarnl_node' failed
make[2]: *** [/home/ashleyf/proj/setup/devel/lib/rosarnl/rosarnl_node] Error 1
CMakeFiles/Makefile2:2238: recipe for target 'CMakeFiles/rosarnl_node.dir/all' failed
make[1]: *** [CMakeFiles/rosarnl_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j16 -l16" failed

Other packages build fine... If you can see what I'm doing wrong, please let me know!
Thanks!

Looking forward to the 1.9.2 official release!

[reed-adept]

Do you pull $CATKIN/devel/setub.bash into your script at some point earlier?

[AshleyF]

Yes, I actually have in my .zshrc:

source /opt/ros/kinetic/setup.zsh
source ~/proj/catkin_ws/devel/setup.zsh

[reed-adept]

So you are using ROS Kinetic on Ubuntu 16.04, correct?

[reed-adept]

Is the ros-arnl git repository cloned into src or src/ros-arnl? (or src/rosarnl or whatever you prefer)? It should be in its own directory inside src.

[AshleyF]

I may have found the magic combination :)

The above works on Ubuntu 14.04 and ROS Indigo (but apparently not on 16.04/Kinetic? Maybe I'm missing something, but trying on VMs from clean checkpoints [just after installing ROS and nothing else], it seems to be the case).

I believe I'm in business now, thanks very much for all the help!