编译unitree_sdk的时候报错

[EgoFan]

[ 2%] Linking CXX executable h1_low_level_example //usr/local/lib/libunitree_sdk2.a(os.cpp.o)：在函数‘unitree::common::OsHelper::GetTid()’中： os.cpp:(.text+0x4d3)：对‘gettid’未定义的引用 //usr/local/lib/libunitree_sdk2.a(lock.cpp.o)：在函数‘unitree::common::AssertEqual(int, int, bool, char const*, char const*, int)’中： lock.cpp:(.text._ZN7unitree6common11AssertEqualEiibPKcS2_i[_ZN7unitree6common11AssertEqualEiibPKcS2_i]+0x84)：对‘gettid’未定义的引用 lock.cpp:(.text._ZN7unitree6common11AssertEqualEiibPKcS2_i[_ZN7unitree6common11AssertEqualEiibPKcS2_i]+0x190)：对‘gettid’未定义的引用 //usr/local/lib/libunitree_sdk2.a(lock.cpp.o)：在函数‘unitree::common::AssertEqual(int, int, int, bool, char const*, char const*, int)’中： lock.cpp:(.text._ZN7unitree6common11AssertEqualEiiibPKcS2_i[_ZN7unitree6common11AssertEqualEiiibPKcS2_i]+0x9c)：对‘gettid’未定义的引用 lock.cpp:(.text._ZN7unitree6common11AssertEqualEiiibPKcS2_i[_ZN7unitree6common11AssertEqualEiiibPKcS2_i]+0x1a3)：对‘gettid’未定义的引用 //usr/local/lib/libunitree_sdk2.a(lock.cpp.o):lock.cpp:(.text._ZN7unitree6common13AssertEqualExEiiibPKcS2_i[_ZN7unitree6common13AssertEqualExEiiibPKcS2_i]+0xaf): 跟着更多未定义的参考到 gettid //usr/local/lib/libunitree_sdk2.a(recurrent_thread.cpp.o)：在函数‘unitree::common::Exception::ToStringabi:cxx11 const’中： recurrent_thread.cpp:(.text._ZNK7unitree6common9Exception8ToStringB5cxx11Ev[_ZNK7unitree6common9Exception8ToStringB5cxx11Ev]+0x38)：对‘std::__cxx11::basic_ostringstream<char, std::char_traits, std::allocator >::basic_ostringstream()’未定义的引用 //usr/local/lib/libunitree_sdk2.a(recurrent_thread.cpp.o)：在函数‘unitree::common::AssertNotEqual(int, int, bool, char const*, char const*, int)’中： recurrent_thread.cpp:(.text._ZN7unitree6common14AssertNotEqualEiibPKcS2_i[_ZN7unitree6common14AssertNotEqualEiibPKcS2_i]+0x84)：对‘gettid’未定义的引用 recurrent_thread.cpp:(.text._ZN7unitree6common14AssertNotEqualEiibPKcS2_i[_ZN7unitree6common14AssertNotEqualEiibPKcS2_i]+0x190)：对‘gettid’未定义的引用 //usr/local/lib/libunitree_sdk2.a(dds_factory_model.cpp.o)：在函数‘void unitree::common::Logger::Log<char const (&) [36], unsigned int&>(int, char const (&) [36], unsigned int&)’中： dds_factory_model.cpp:(.text.ZN7unitree6common6Logger3LogIJRA36_KcRjEEEviDpOT[ZN7unitree6common6Logger3LogIJRA36_KcRjEEEviDpOT]+0x88)：对‘std::__cxx11::basic_ostringstream<char, std::char_traits, std::allocator >::basic_ostringstream()’未定义的引用 //usr/local/lib/libunitree_sdk2.a(dds_factory_model.cpp.o)：在函数‘void unitree::common::Logger::Log<char const (&) [36]>(int, char const (&) [36])’中： dds_factory_model.cpp:(.text.ZN7unitree6common6Logger3LogIJRA36_KcEEEviDpOT[ZN7unitree6common6Logger3LogIJRA36_KcEEEviDpOT]+0x81)：对‘std::__cxx11::basic_ostringstream<char, std::char_traits, std::allocator >::basic_ostringstream()’未定义的引用 //usr/local/lib/libddscxx.so：对‘std::__cxx11::basic_stringstream<char, std::char_traits, std::allocator >::basic_stringstream()@GLIBCXX_3.4.26’未定义的引用 collect2: error: ld returned 1 exit status CMakeFiles/h1_low_level_example.dir/build.make:94: recipe for target 'h1_low_level_example' failed make[2]: *** [h1_low_level_example] Error 1 CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/h1_low_level_example.dir/all' failed make[1]: *** [CMakeFiles/h1_low_level_example.dir/all] Error 2 Makefile:83: recipe for target 'all' failed make: *** [all] Error 2

[Teddy-Liao]

单独去编译unitree_sdk2项目，检查环境和依赖的完整性。

[wuyukun-tong]

感谢回复，把系统换成20.04就不报错了