CODEWITHSUNDEEP
drake
alvin
alvin

Reputation: 117

Gurobi Build Issues with Drake

I'm trying to build drake with Gurobi and am getting several issues. I should note that I am treating drake as a package in my ROS workspace, and that has been working well so far.

  1. After successfully building with --config=gurobi, and running a test file, I get the error:
/home/user/test_ws/devel/lib/simple_test/simple_test: error while loading shared libraries: libdrake_lcm.so: cannot open shared object file: No such file or directory

This doesn't happen when I omit --config=gurobi.

  1. After building again, I get the error:
Traceback (most recent call last):
  File "/home/user/test_ws/build/drake/_bazel_user/c0701f1e1e0381b11260fb3e4da5ea58/execroot/drake/bazel-out/k8-opt/bin/install.runfiles/drake/tools/install/installer.py", line 485, in <module>
    main(sys.argv[1:])
  File "/home/user/test_ws/build/drake/_bazel_user/c0701f1e1e0381b11260fb3e4da5ea58/execroot/drake/bazel-out/k8-opt/bin/install.runfiles/drake/tools/install/installer.py", line 478, in main
    exec(f'installer.{action}')
  File "<string>", line 1, in <module>
  File "/home/user/test_ws/build/drake/_bazel_user/c0701f1e1e0381b11260fb3e4da5ea58/execroot/drake/bazel-out/k8-opt/bin/install.runfiles/drake/tools/install/installer.py", line 169, in install
    self.copy_or_link(src, dst_full)
  File "/home/user/test_ws/build/drake/_bazel_user/c0701f1e1e0381b11260fb3e4da5ea58/execroot/drake/bazel-out/k8-opt/bin/install.runfiles/drake/tools/install/installer.py", line 145, in copy_or_link
    os.symlink(relative_link, dst)
FileExistsError: [Errno 17] File exists: './libgurobi.so.9.5.2' -> '/home/user/test_ws/install/lib/libgurobi95.so'

Manually deleting that existing file solved the issue, but having to constantly remove this file is problematic.

[UPDATE]

I'm now explaining my current build setup. I have a ros workspace organized as

test_ws/
    build/
    devel/
    ...
    src/
        drake/
        simple_test/
            CMakeLists.txt
            package.xml
            test.cpp

My CMakeLists.txt contains the following:

cmake_minimum_required(VERSION 3.0.2)
project(simple_test)

execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE ld_version)
if ("${ld_version}" MATCHES "GNU gold")
  message("USING GOLD LINKER!")
  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold -Wl,--disable-new-dtags")
  set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold -Wl,--disable-new-dtags")
endif()

add_compile_options(-std=c++14 -g -DEIGEN_NO_DEBUG -Werror=return-type) #with debugging symbols

find_package(drake REQUIRED PATHS /home/user/test_ws/src/drake/build/install)
find_package(catkin)

catkin_package()

add_executable(simple_test test.cpp)
target_link_libraries(simple_test drake::drake)

Upvotes: 0

Views: 122

Answers (2)

jwnimmer-tri
jwnimmer-tri

Reputation: 2449

For (1), I cannot repro.

First, I installed Drake latest master via this:

env GUROBI_HOME=/home/jwnimmer/Downloads/gurobi951/linux64 \
  bazel run //:install --config=gurobi -- /home/jwnimmer/tmp/wakka

This should be identical to running cmake && make install to that folder.

Then, I build and link a sample program:

jwnimmer@call-cps:~/tmp/wakka$ cat main.cc
#include "drake/common/find_resource.h"

int main() {
  drake::FindResourceOrThrow(
      "drake/manipulation/models/iiwa_description/urdf/"
      "iiwa14_primitive_collision.urdf");
  return 0;
}
jwnimmer@call-cps:~/tmp/wakka$ g++ --std=c++17 main.cc -Iinclude -Llib -Wl,-rpath -Wl,$(pwd)/lib -ldrake -omain 
jwnimmer@call-cps:~/tmp/wakka$ ./main; echo $?
0

The linking seems fine:

jwnimmer@call-cps:~/tmp/wakka$ readelf -d main

Dynamic section at offset 0x3cf0 contains 31 entries:
  Tag        Type                         Name/Value
 0x0000000000000001 (NEEDED)             Shared library: [libdrake.so]
 0x0000000000000001 (NEEDED)             Shared library: [libstdc++.so.6]
 0x0000000000000001 (NEEDED)             Shared library: [libgcc_s.so.1]
 0x0000000000000001 (NEEDED)             Shared library: [libc.so.6]
 0x000000000000001d (RUNPATH)            Library runpath: [/home/jwnimmer/tmp/wakka/lib]
...

jwnimmer@call-cps:~/tmp/wakka$ ldd main
    linux-vdso.so.1 (0x00007ffe2c491000)
.... nothing is shown as 'missing' ...

To help, you'll probably need to share a reproducible sample of how you're building.

Upvotes: 0

jwnimmer-tri
jwnimmer-tri

Reputation: 2449

I haven't looked into the first problem yet.

For the second problem, I think is a bug in Drake's install program (see https://github.com/RobotLocomotion/drake/issues/18007). But in any case, never try to install Drake twice in a row, it is unsound. You should always rm the old install before trying a new one.

Upvotes: 0

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