ompl
Could not build OMPL with Python bindings on Raspberry Pi 4
Hello!
I want to use OMPL with Python on Raspberry Pi 4 mini computer. As far as I understood, the only way to do it - is to compile it manually, as prebuilt binaries (ros-melodic-ompl) come without python bindings.
So I'm trying to build OMPL for use on Raspberry Pi 4 in a Docker container, but experiencing some troubles. I'm using ros:melodic Docker image and install-ompl-ubuntu.sh script with --python option.
The issue is that when install script reaches make update_bindings command it exits with a following error:
make: *** No rule to make target 'update_bindings'. Stop.
And this, I believe, is caused by the fact that during execution of cmake, following message was displayed to me:
-- The following OPTIONAL packages have not been found:
* MORSE, <https://www.openrobots.org/wiki/morse>
OMPL includes a plugin for the MORSE Robot Simulation engine.
* Triangle, <http://www.cs.cmu.edu/~quake/triangle.html>
Used to create triangular decompositions of polygonal 2D environments.
* flann (required version >= 1.8.3), <https://github.com/mariusmuja/flann>
If detetected, FLANN can be used for nearest neighbor queries by OMPL.
* spot, <http://spot.lrde.epita.fr>
Used for constructing finite automata from LTL formulae.
* Doxygen, <http://doxygen.org>
Used to create the OMPL documentation (i.e., http://ompl.kavrakilab.org).
* Python, <http://python.org>
Used for python bindings.
I noticed that Python for some reason is missing. But I didn't noticed any failure on dependencies installation stage. python3-dev is present on the system:
root@9cfa79289051:~# apt list --installed | grep python3
WARNING: apt does not have a stable CLI interface. Use with caution in scripts.
libpython3-dev/bionic-updates,now 3.6.7-1~18.04 armhf [installed,automatic]
libpython3-stdlib/bionic-updates,now 3.6.7-1~18.04 armhf [installed,automatic]
libpython3.6/bionic-updates,bionic-security,now 3.6.9-1~18.04ubuntu1 armhf [installed,automatic]
libpython3.6-dev/bionic-updates,bionic-security,now 3.6.9-1~18.04ubuntu1 armhf [installed,automatic]
libpython3.6-minimal/bionic-updates,bionic-security,now 3.6.9-1~18.04ubuntu1 armhf [installed,automatic]
libpython3.6-stdlib/bionic-updates,bionic-security,now 3.6.9-1~18.04ubuntu1 armhf [installed,automatic]
python3/bionic-updates,now 3.6.7-1~18.04 armhf [installed,automatic]
python3-asn1crypto/bionic,now 0.24.0-1 all [installed,automatic]
python3-cffi-backend/bionic,now 1.11.5-1 armhf [installed,automatic]
python3-crypto/bionic,now 2.6.1-8ubuntu2 armhf [installed,automatic]
python3-cryptography/bionic-updates,bionic-security,now 2.1.4-1ubuntu1.3 armhf [installed,automatic]
python3-dbus/bionic,now 1.2.6-1 armhf [installed,automatic]
python3-dev/bionic-updates,now 3.6.7-1~18.04 armhf [installed]
python3-distutils/bionic-updates,now 3.6.9-1~18.04 all [installed,automatic]
python3-gi/bionic-updates,now 3.26.1-2ubuntu1 armhf [installed,automatic]
python3-idna/bionic,now 2.6-1 all [installed,automatic]
python3-keyring/bionic,now 10.6.0-1 all [installed,automatic]
python3-keyrings.alt/bionic,now 3.0-1 all [installed,automatic]
python3-lib2to3/bionic-updates,now 3.6.9-1~18.04 all [installed,automatic]
python3-minimal/bionic-updates,now 3.6.7-1~18.04 armhf [installed,automatic]
python3-numpy/bionic,now 1:1.13.3-2ubuntu1 armhf [installed]
python3-pip/bionic-updates,now 9.0.1-2.3~ubuntu1.18.04.1 all [installed]
python3-pkg-resources/bionic,now 39.0.1-2 all [installed,automatic]
python3-secretstorage/bionic,now 2.3.1-2 all [installed,automatic]
python3-setuptools/bionic,now 39.0.1-2 all [installed,automatic]
python3-six/bionic,now 1.11.0-2 all [installed,automatic]
python3-wheel/bionic,now 0.30.0-0.2 all [installed,automatic]
python3-xdg/bionic,now 0.25-4ubuntu1 all [installed,automatic]
python3.6/bionic-updates,bionic-security,now 3.6.9-1~18.04ubuntu1 armhf [installed,automatic]
python3.6-dev/bionic-updates,bionic-security,now 3.6.9-1~18.04ubuntu1 armhf [installed,automatic]
python3.6-minimal/bionic-updates,bionic-security,now 3.6.9-1~18.04ubuntu1 armhf [installed,automatic]
Unfortunately, from this point I don't really know what to do. I tried same process on a regular amd64 laptop in the same docker image and it worked well. Could you please suggest on how to resolve rised issue?
Full output of install-ompl-ubuntu.sh --python:
root@9cfa79289051:~# ./install-ompl-ubuntu.sh --python
Hit:1 http://ports.ubuntu.com/ubuntu-ports bionic InRelease
Hit:2 http://ports.ubuntu.com/ubuntu-ports bionic-updates InRelease
Hit:3 http://ports.ubuntu.com/ubuntu-ports bionic-backports InRelease
Hit:4 http://ports.ubuntu.com/ubuntu-ports bionic-security InRelease
Hit:5 http://packages.ros.org/ros/ubuntu bionic InRelease
Reading package lists... Done
Reading package lists... Done
Building dependency tree
Reading state information... Done
Calculating upgrade... Done
The following packages will be upgraded:
apt ca-certificates libapt-pkg5.0 libssl-dev libssl1.1 libsystemd0 libudev1 openssl ros-melodic-bond ros-melodic-bond-core ros-melodic-bondcpp
ros-melodic-bondpy ros-melodic-nodelet ros-melodic-nodelet-core ros-melodic-nodelet-topic-tools ros-melodic-ros-base ros-melodic-smclib
17 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
Need to get 5558 kB of archives.
After this operation, 3072 B of additional disk space will be used.
Get:1 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf libsystemd0 armhf 237-3ubuntu10.41 [189 kB]
Get:2 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf libudev1 armhf 237-3ubuntu10.41 [51.3 kB]
Get:3 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf libapt-pkg5.0 armhf 1.6.12ubuntu0.1 [734 kB]
Get:4 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf apt armhf 1.6.12ubuntu0.1 [1157 kB]
Get:5 http://packages.ros.org/ros/ubuntu bionic/main armhf ros-melodic-bond armhf 1.8.5-1bionic.20200514.221215 [18.2 kB]
Get:6 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf libssl-dev armhf 1.1.1-1ubuntu2.1~18.04.6 [1367 kB]
Get:7 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf libssl1.1 armhf 1.1.1-1ubuntu2.1~18.04.6 [1069 kB]
Get:8 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf openssl armhf 1.1.1-1ubuntu2.1~18.04.6 [589 kB]
Get:9 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf ca-certificates all 20190110~18.04.1 [146 kB]
Get:10 http://packages.ros.org/ros/ubuntu bionic/main armhf ros-melodic-smclib armhf 1.8.5-1bionic.20200514.221941 [13.6 kB]
Get:11 http://packages.ros.org/ros/ubuntu bionic/main armhf ros-melodic-bondcpp armhf 1.8.5-1bionic.20200515.000139 [49.8 kB]
Get:12 http://packages.ros.org/ros/ubuntu bionic/main armhf ros-melodic-bondpy armhf 1.8.5-1bionic.20200515.001356 [15.4 kB]
Get:13 http://packages.ros.org/ros/ubuntu bionic/main armhf ros-melodic-bond-core armhf 1.8.5-1bionic.20200515.004618 [2584 B]
Get:14 http://packages.ros.org/ros/ubuntu bionic/main armhf ros-melodic-nodelet armhf 1.9.16-0bionic.20200515.003845 [135 kB]
Get:15 http://packages.ros.org/ros/ubuntu bionic/main armhf ros-melodic-nodelet-topic-tools armhf 1.9.16-0bionic.20200515.022625 [15.9 kB]
Get:16 http://packages.ros.org/ros/ubuntu bionic/main armhf ros-melodic-nodelet-core armhf 1.9.16-0bionic.20200515.024500 [2404 B]
Get:17 http://packages.ros.org/ros/ubuntu bionic/main armhf ros-melodic-ros-base armhf 1.4.1-0bionic.20200515.025025 [1920 B]
Fetched 5558 kB in 1s (3920 kB/s)
debconf: delaying package configuration, since apt-utils is not installed
(Reading database ... 62090 files and directories currently installed.)
Preparing to unpack .../libsystemd0_237-3ubuntu10.41_armhf.deb ...
Unpacking libsystemd0:armhf (237-3ubuntu10.41) over (237-3ubuntu10.39) ...
Setting up libsystemd0:armhf (237-3ubuntu10.41) ...
(Reading database ... 62090 files and directories currently installed.)
Preparing to unpack .../libudev1_237-3ubuntu10.41_armhf.deb ...
Unpacking libudev1:armhf (237-3ubuntu10.41) over (237-3ubuntu10.39) ...
Setting up libudev1:armhf (237-3ubuntu10.41) ...
(Reading database ... 62090 files and directories currently installed.)
Preparing to unpack .../libapt-pkg5.0_1.6.12ubuntu0.1_armhf.deb ...
Unpacking libapt-pkg5.0:armhf (1.6.12ubuntu0.1) over (1.6.12) ...
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Setting up apt (1.6.12ubuntu0.1) ...
(Reading database ... 62090 files and directories currently installed.)
Preparing to unpack .../00-libssl-dev_1.1.1-1ubuntu2.1~18.04.6_armhf.deb ...
Unpacking libssl-dev:armhf (1.1.1-1ubuntu2.1~18.04.6) over (1.1.1-1ubuntu2.1~18.04.5) ...
Preparing to unpack .../01-libssl1.1_1.1.1-1ubuntu2.1~18.04.6_armhf.deb ...
Unpacking libssl1.1:armhf (1.1.1-1ubuntu2.1~18.04.6) over (1.1.1-1ubuntu2.1~18.04.5) ...
Preparing to unpack .../02-openssl_1.1.1-1ubuntu2.1~18.04.6_armhf.deb ...
Unpacking openssl (1.1.1-1ubuntu2.1~18.04.6) over (1.1.1-1ubuntu2.1~18.04.5) ...
Preparing to unpack .../03-ca-certificates_20190110~18.04.1_all.deb ...
Unpacking ca-certificates (20190110~18.04.1) over (20180409) ...
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Unpacking ros-melodic-bond (1.8.5-1bionic.20200514.221215) over (1.8.3-0bionic.20200304.134730) ...
Preparing to unpack .../05-ros-melodic-smclib_1.8.5-1bionic.20200514.221941_armhf.deb ...
Unpacking ros-melodic-smclib (1.8.5-1bionic.20200514.221941) over (1.8.3-0bionic.20200304.113216) ...
Preparing to unpack .../06-ros-melodic-bondcpp_1.8.5-1bionic.20200515.000139_armhf.deb ...
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Preparing to unpack .../07-ros-melodic-bondpy_1.8.5-1bionic.20200515.001356_armhf.deb ...
Unpacking ros-melodic-bondpy (1.8.5-1bionic.20200515.001356) over (1.8.3-0bionic.20200320.194723) ...
Preparing to unpack .../08-ros-melodic-bond-core_1.8.5-1bionic.20200515.004618_armhf.deb ...
Unpacking ros-melodic-bond-core (1.8.5-1bionic.20200515.004618) over (1.8.3-0bionic.20200320.220037) ...
Preparing to unpack .../09-ros-melodic-nodelet_1.9.16-0bionic.20200515.003845_armhf.deb ...
Unpacking ros-melodic-nodelet (1.9.16-0bionic.20200515.003845) over (1.9.16-0bionic.20200320.190155) ...
Preparing to unpack .../10-ros-melodic-nodelet-topic-tools_1.9.16-0bionic.20200515.022625_armhf.deb ...
Unpacking ros-melodic-nodelet-topic-tools (1.9.16-0bionic.20200515.022625) over (1.9.16-0bionic.20200320.211905) ...
Preparing to unpack .../11-ros-melodic-nodelet-core_1.9.16-0bionic.20200515.024500_armhf.deb ...
Unpacking ros-melodic-nodelet-core (1.9.16-0bionic.20200515.024500) over (1.9.16-0bionic.20200320.221404) ...
Preparing to unpack .../12-ros-melodic-ros-base_1.4.1-0bionic.20200515.025025_armhf.deb ...
Unpacking ros-melodic-ros-base (1.4.1-0bionic.20200515.025025) over (1.4.1-0bionic.20200321.120809) ...
Setting up ros-melodic-smclib (1.8.5-1bionic.20200514.221941) ...
Setting up ros-melodic-bond (1.8.5-1bionic.20200514.221215) ...
Setting up ros-melodic-bondpy (1.8.5-1bionic.20200515.001356) ...
Setting up libssl1.1:armhf (1.1.1-1ubuntu2.1~18.04.6) ...
debconf: unable to initialize frontend: Dialog
debconf: (No usable dialog-like program is installed, so the dialog based frontend cannot be used. at /usr/share/perl5/Debconf/FrontEnd/Dialog.pm line 76.)
debconf: falling back to frontend: Readline
Setting up ros-melodic-bondcpp (1.8.5-1bionic.20200515.000139) ...
Setting up openssl (1.1.1-1ubuntu2.1~18.04.6) ...
Setting up ca-certificates (20190110~18.04.1) ...
debconf: unable to initialize frontend: Dialog
debconf: (No usable dialog-like program is installed, so the dialog based frontend cannot be used. at /usr/share/perl5/Debconf/FrontEnd/Dialog.pm line 76.)
debconf: falling back to frontend: Readline
Updating certificates in /etc/ssl/certs...
2 added, 8 removed; done.
Setting up ros-melodic-nodelet (1.9.16-0bionic.20200515.003845) ...
Setting up libssl-dev:armhf (1.1.1-1ubuntu2.1~18.04.6) ...
Setting up ros-melodic-nodelet-topic-tools (1.9.16-0bionic.20200515.022625) ...
Setting up ros-melodic-bond-core (1.8.5-1bionic.20200515.004618) ...
Setting up ros-melodic-nodelet-core (1.9.16-0bionic.20200515.024500) ...
Setting up ros-melodic-ros-base (1.4.1-0bionic.20200515.025025) ...
Processing triggers for libc-bin (2.27-3ubuntu1) ...
Processing triggers for ca-certificates (20190110~18.04.1) ...
Updating certificates in /etc/ssl/certs...
0 added, 0 removed; done.
Running hooks in /etc/ca-certificates/update.d...
done.
Reading package lists... Done
Building dependency tree
Reading state information... Done
libboost-filesystem-dev is already the newest version (1.65.1.0ubuntu1).
libboost-filesystem-dev set to manually installed.
libboost-program-options-dev is already the newest version (1.65.1.0ubuntu1).
libboost-program-options-dev set to manually installed.
libboost-system-dev is already the newest version (1.65.1.0ubuntu1).
libboost-system-dev set to manually installed.
pkg-config is already the newest version (0.29.1-0ubuntu2).
pkg-config set to manually installed.
libboost-serialization-dev is already the newest version (1.65.1.0ubuntu1).
libboost-serialization-dev set to manually installed.
libboost-test-dev is already the newest version (1.65.1.0ubuntu1).
libboost-test-dev set to manually installed.
cmake is already the newest version (3.10.2-1ubuntu2.18.04.1).
cmake set to manually installed.
The following additional packages will be installed:
libode6
Suggested packages:
libeigen3-doc libmrpt-dev
The following NEW packages will be installed:
libeigen3-dev libode-dev libode6
0 upgraded, 3 newly installed, 0 to remove and 0 not upgraded.
Need to get 1518 kB of archives.
After this operation, 9577 kB of additional disk space will be used.
Get:1 http://ports.ubuntu.com/ubuntu-ports bionic/universe armhf libode6 armhf 2:0.14-2 [304 kB]
Get:2 http://ports.ubuntu.com/ubuntu-ports bionic/universe armhf libode-dev armhf 2:0.14-2 [404 kB]
Get:3 http://ports.ubuntu.com/ubuntu-ports bionic/universe armhf libeigen3-dev all 3.3.4-4 [810 kB]
Fetched 1518 kB in 0s (3383 kB/s)
debconf: delaying package configuration, since apt-utils is not installed
Selecting previously unselected package libode6.
(Reading database ... 62090 files and directories currently installed.)
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Unpacking libode6 (2:0.14-2) ...
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Unpacking libode-dev (2:0.14-2) ...
Selecting previously unselected package libeigen3-dev.
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Setting up libeigen3-dev (3.3.4-4) ...
Setting up libode6 (2:0.14-2) ...
Setting up libode-dev (2:0.14-2) ...
Processing triggers for libc-bin (2.27-3ubuntu1) ...
Reading package lists... Done
Building dependency tree
Reading state information... Done
python3-dev is already the newest version (3.6.7-1~18.04).
python3-dev set to manually installed.
The following additional packages will be installed:
dbus libapparmor1 python-pip-whl python3-asn1crypto python3-cffi-backend python3-crypto python3-cryptography python3-dbus python3-gi
python3-idna python3-keyring python3-keyrings.alt python3-pkg-resources python3-secretstorage python3-setuptools python3-six python3-wheel
python3-xdg
Suggested packages:
default-dbus-session-bus | dbus-session-bus python-crypto-doc python-cryptography-doc python3-cryptography-vectors python-dbus-doc
python3-dbus-dbg gnome-keyring libkf5wallet-bin gir1.2-gnomekeyring-1.0 python-secretstorage-doc python-setuptools-doc
The following NEW packages will be installed:
dbus libapparmor1 python-pip-whl python3-asn1crypto python3-cffi-backend python3-crypto python3-cryptography python3-dbus python3-gi
python3-idna python3-keyring python3-keyrings.alt python3-pip python3-pkg-resources python3-secretstorage python3-setuptools python3-six
python3-wheel python3-xdg
0 upgraded, 19 newly installed, 0 to remove and 0 not upgraded.
Need to get 3210 kB of archives.
After this operation, 9776 kB of additional disk space will be used.
Get:1 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf libapparmor1 armhf 2.12-4ubuntu5.1 [27.1 kB]
Get:2 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf dbus armhf 1.12.2-1ubuntu1.1 [132 kB]
Get:3 http://ports.ubuntu.com/ubuntu-ports bionic/main armhf python3-dbus armhf 1.2.6-1 [83.7 kB]
Get:4 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf python3-gi armhf 3.26.1-2ubuntu1 [138 kB]
Get:5 http://ports.ubuntu.com/ubuntu-ports bionic-updates/universe armhf python-pip-whl all 9.0.1-2.3~ubuntu1.18.04.1 [1653 kB]
Get:6 http://ports.ubuntu.com/ubuntu-ports bionic/main armhf python3-asn1crypto all 0.24.0-1 [72.8 kB]
Get:7 http://ports.ubuntu.com/ubuntu-ports bionic/main armhf python3-cffi-backend armhf 1.11.5-1 [55.7 kB]
Get:8 http://ports.ubuntu.com/ubuntu-ports bionic/main armhf python3-crypto armhf 2.6.1-8ubuntu2 [239 kB]
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Get:11 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf python3-cryptography armhf 2.1.4-1ubuntu1.3 [182 kB]
Get:12 http://ports.ubuntu.com/ubuntu-ports bionic/main armhf python3-secretstorage all 2.3.1-2 [12.1 kB]
Get:13 http://ports.ubuntu.com/ubuntu-ports bionic/main armhf python3-keyring all 10.6.0-1 [26.7 kB]
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Get:15 http://ports.ubuntu.com/ubuntu-ports bionic-updates/universe armhf python3-pip all 9.0.1-2.3~ubuntu1.18.04.1 [114 kB]
Get:16 http://ports.ubuntu.com/ubuntu-ports bionic/main armhf python3-pkg-resources all 39.0.1-2 [98.8 kB]
Get:17 http://ports.ubuntu.com/ubuntu-ports bionic/main armhf python3-setuptools all 39.0.1-2 [248 kB]
Get:18 http://ports.ubuntu.com/ubuntu-ports bionic/universe armhf python3-wheel all 0.30.0-0.2 [36.5 kB]
Get:19 http://ports.ubuntu.com/ubuntu-ports bionic/main armhf python3-xdg all 0.25-4ubuntu1 [31.4 kB]
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debconf: delaying package configuration, since apt-utils is not installed
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(Reading database ... 62689 files and directories currently installed.)
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Unpacking python3-pkg-resources (39.0.1-2) ...
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Setting up python3-crypto (2.6.1-8ubuntu2) ...
Setting up python3-idna (2.6-1) ...
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Setting up python3-six (1.11.0-2) ...
Setting up python3-wheel (0.30.0-0.2) ...
Setting up python3-pkg-resources (39.0.1-2) ...
Setting up python3-gi (3.26.1-2ubuntu1) ...
Setting up python3-asn1crypto (0.24.0-1) ...
Setting up libapparmor1:armhf (2.12-4ubuntu5.1) ...
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Setting up dbus (1.12.2-1ubuntu1.1) ...
Setting up python3-setuptools (39.0.1-2) ...
Setting up python3-cryptography (2.1.4-1ubuntu1.3) ...
Setting up python3-keyrings.alt (3.0-1) ...
Setting up python3-secretstorage (2.3.1-2) ...
Setting up python3-keyring (10.6.0-1) ...
Processing triggers for libc-bin (2.27-3ubuntu1) ...
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1 location(s) to search for versions of pygccxml:
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Collecting pyplusplus
1 location(s) to search for versions of pyplusplus:
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No cache entry available
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Installing collected packages: pygccxml, pyplusplus
Successfully installed pygccxml-1.9.1 pyplusplus-1.8.3
Cleaning up...
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following NEW packages will be installed:
castxml
0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded.
Need to get 13.3 MB of archives.
After this operation, 44.2 MB of additional disk space will be used.
Get:1 http://ports.ubuntu.com/ubuntu-ports bionic/universe armhf castxml armhf 0.1+git20170823-1 [13.3 MB]
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debconf: delaying package configuration, since apt-utils is not installed
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(Reading database ... 63480 files and directories currently installed.)
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Unpacking castxml (0.1+git20170823-1) ...
Setting up castxml (0.1+git20170823-1) ...
Reading package lists... Done
Building dependency tree
Reading state information... Done
libboost-python-dev is already the newest version (1.65.1.0ubuntu1).
libboost-python-dev set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
Reading package lists... Done
Building dependency tree
Reading state information... Done
libboost-numpy-dev is already the newest version (1.65.1.0ubuntu1).
libboost-numpy-dev set to manually installed.
Suggested packages:
gfortran python-numpy-doc python3-nose python3-numpy-dbg
The following NEW packages will be installed:
python3-numpy
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Unpacking python3-numpy (1:1.13.3-2ubuntu1) ...
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--2020-06-02 17:38:13-- https://bitbucket.org/ompl/ompl/downloads/ompl-1.4.2-Source.tar.gz
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-- The CXX compiler identification is GNU 7.5.0
-- The C compiler identification is GNU 7.5.0
-- Check for working CXX compiler: /usr/bin/g++
-- Check for working CXX compiler: /usr/bin/g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- 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
-- Building RelWithDebInfo
-- Found Eigen3: /usr/include/eigen3 (Required is at least version "2.91.0")
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Checking for module 'flann'
-- No package 'flann' found
-- Could NOT find FLANN (missing: FLANN_LIBRARIES FLANN_INCLUDE_DIRS)
-- Checking for module 'libspot'
-- No package 'libspot' found
-- Could NOT find SPOT (missing: SPOT_LIBRARIES SPOT_INCLUDE_DIRS)
-- Found PY_pyplusplus: /usr/local/lib/python3.6/dist-packages/pyplusplus
-- Found PY_pygccxml: /usr/local/lib/python3.6/dist-packages/pygccxml
-- Found castxml: /usr/bin/castxml
-- The following features have been enabled:
* OMPL_BUILD_PYBINDINGS, Whether to build the Python bindings.
* OMPL_BUILD_PYTESTS, Whether to build/run the python binding unit tests.
* OMPL_BUILD_TESTS, Whether to build the unit tests.
* OMPL_BUILD_DEMOS, Whether to build the OMPL demo programs.
-- The following OPTIONAL packages have been found:
* Threads, <https://en.wikipedia.org/wiki/POSIX_Threads>
Pthreads is sometimes needed, depending on OS / compiler.
* OpenDE, <http://ode.org>
The Open Dynamics Engine can be used as a "black box" for kinodynamic planning.
* PkgConfig, <https://www.freedesktop.org/wiki/Software/pkg-config/>
Used to find (compilation flags for) dependencies.
* castxml, <https://github.com/CastXML/CastXML>
Used to generate Python bindings.
-- The following REQUIRED packages have been found:
* Eigen3, <http://eigen.tuxfamily.org>
A linear algebra library used throughout OMPL.
* Boost (required version >= 1.54), <http://boost.org>
Used throughout OMPL for data serialization, graphs, etc.
-- The following features have been disabled:
* OMPL_VERSIONED_INSTALL, Whether to install header files in
<prefix>/include/ompl-X.Y/ompl, where X and Y are the major and minor
version numbers
-- The following OPTIONAL packages have not been found:
* MORSE, <https://www.openrobots.org/wiki/morse>
OMPL includes a plugin for the MORSE Robot Simulation engine.
* Triangle, <http://www.cs.cmu.edu/~quake/triangle.html>
Used to create triangular decompositions of polygonal 2D environments.
* flann (required version >= 1.8.3), <https://github.com/mariusmuja/flann>
If detetected, FLANN can be used for nearest neighbor queries by OMPL.
* spot, <http://spot.lrde.epita.fr>
Used for constructing finite automata from LTL formulae.
* Doxygen, <http://doxygen.org>
Used to create the OMPL documentation (i.e., http://ompl.kavrakilab.org).
* Python, <http://python.org>
Used for python bindings.
-- The following Python modules were found:
* pyplusplus pygccxml
-- Configuring done
-- Generating done
-- Build files have been written to: /root/ompl-1.4.2-Source/build/Release
make: *** No rule to make target 'update_bindings'. Stop.
Update:
After researching on the issue I found that in CMakeModules/FindPython.cmake at line 86 (line 80 in latest master) there are predefined file path suffixes for python libraries for a few CPU architectures - x86_64 and i386:
PATH_SUFFIXES "" "python${PYTHON_VERSION}/config" "x86_64-linux-gnu" "i386-linux-gnu"
So I assume, that python bindings have never been built before for ARM, at least for version >1.4.2 . Please, correct me if I'm wrong. Now I'm wondering if that's at all possible to do?
Anyway, after appending this list with a proper suffix for RPi - arm-linux-gnueabihf the cmake issue has been resolved and it managed to detect my python libraries.
Finally, I can run make update_bindings, but another error occurred during generation:
$ make update_bindings
[ 0%] Preparing C++ header file for Python binding generation for module control
[ 0%] Built target control.h
[ 25%] Preparing C++ header file for Python binding generation for module util
[ 25%] Built target util.h
[ 25%] Creating C++ code for Python module util (see pyplusplus_util.log)
ERROR error occured, while parsing element with name "Field" and attrs "['name', 'access', 'context', 'offset', 'type', 'id']".
Error: 'file'.
Error: can't generate code for module util
So far, this is the farthest point where I could get. I will continue to debug further. Meanwhile, I will be extremely grateful for any advice and suggestions.
I have never built OMPL for Raspberry Pi. If you ultimate goal is to use OMPL within ROS, then you don't really need the Python bindings. Are you sure you want them?
Yes, my ultimate goal is to use OMPL within ROS and some other Python code and structures that I already have. I understand that I can use C++ API, and especially on Raspberry Pi it will be more preferable due to processing power limitations. But if there is a chance to run the library in Python - I would like to do it.
So I also need to compile from source OMPL with python binding and ROS 1 on an Nvidia Jetson Nano (aarch64-linux-gnu) for MusHr.io open source ROS 1
I also am getting the exact same error ERROR error occured, while parsing element with name "Field" and attrs "['name', 'access', 'context', 'offset', 'type', 'id']". Error: 'file'. Error: can't generate code for module util
I have not installed Spot from https://www.lrde.epita.fr/ ? or is this error due to different dependency or setup?
Thanks for your help
This may be an issue with CastXML, the low-level tool used to create XML representations of the C++ code which are used to programmatically generate the Python bindings. You need a fairly recent version of CastXML. You can build it yourself and see if that fixes these issues. This repo makes it easier to build your own CastXML: https://github.com/CastXML/CastXMLSuperbuild
@mamoll, indeed, castxml obtained from APT is old - 0.1-g927c739. But this is also the case for x86_64. To test your assumption, I built castxml 0.3.4 on Raspberry Pi natively and added it to PATH. And results are the same as before.
I also checked pip3 modules on both architectures and they are identical. pygccxml reader version is 1.9.1 on both platforms.
I also compile the superbuild of castxml on my jetson nano and i am still getting the same error. Lots in common between two different hardware. should try re installing pygccxml from source as well ?
@mamoll , do you think it's possible to compile bindings for ARM? If so, in what direction do you suggest I and @chazyman need to go?
Looks like I figured it out but i need to reproduce to make sure. I try latest source of CastXML not the Super. I think the pb is you need your system to use the Default version of LLVM/Clang loaded on your board. Nano sdk has a lot of stuff built-in so you need as i have learned to not deviate too much or it goes out wack quicly.
So in my case the version is 9 and you need to apt-get both llvm/clang main and dev packages for both ( so 4 packages)
Then build castxml and add OMPL dependencies but use New castxml and load apt-get gccxmlpy ... Got binding to work in python 3 sesion ---> import ompl
Thanks a lot @chazyman! I know that generating the python bindings is painful. I'd be happy to add a Rasperry Pi / ARM tab on http://ompl.kavrakilab.org/installation.html. The source for that is available at https://github.com/ompl/ompl/blob/master/doc/markdown/installation.md. A PR with instructions along the lines of what you wrote to help people build OMPL + Python bindings on ARM would be much appreciated.
Hi @chazyman , I also try to build python bindings on Jetson Nano and I try to follow your instructions. I built CastXML from source using clang-9 and got CastXML version 3.2. I installed pygccxml using pip3 install pygccxml command. But I still got the same error:
`#:~/ompl/ompl-1.5.0/build/Release$ cmake ../.. -DPYTHON_EXEC=/usr/bin/python3
-- The CXX compiler identification is Clang 9.0.0
-- 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
-- Build type: Release
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Checking for module 'ode'
-- Found ode, version 0.14
-- Checking for module 'flann'
-- No package 'flann' found
-- Checking for module 'libspot'
-- No package 'libspot' found
-- Could NOT find spot (missing: SPOT_LIBRARIES SPOT_INCLUDE_DIRS)
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE)
-- Found PY_numpy: /usr/lib/python3/dist-packages/numpy
-- Found PY_pyplusplus: /usr/local/lib/python3.6/dist-packages/pyplusplus
-- Found PY_pygccxml: /home/fabpilot/.local/lib/python3.6/site-packages/pygccxml
-- Found castxml: /home/fabpilot/ompl/CastXML/build/bin/castxml
-- Checking for module 'yaml-cpp'
-- Found yaml-cpp, version 0.5.2
-- Found yaml-cpp: yaml-cpp
-- The following features have been enabled:
- OMPL_VERSIONED_INSTALL, Whether to install header files in
/include/ompl-X.Y/ompl, where X and Y are the major and minor version numbers - OMPL_BUILD_PYBINDINGS, Whether to build the Python bindings.
- OMPL_BUILD_PYTESTS, Whether to build/run the python binding unit tests.
- OMPL_BUILD_TESTS, Whether to build the unit tests.
- OMPL_BUILD_DEMOS, Whether to build the OMPL demo programs.
-- The following OPTIONAL packages have been found:
- Threads, https://en.wikipedia.org/wiki/POSIX_Threads Pthreads is sometimes needed, depending on OS / compiler.
- pypy, https://pypy.org Used to speed up the generation of python bindings.
- ODE, http://ode.org The Open Dynamics Engine can be used as a "black box" for kinodynamic planning.
- Python, https://www.python.org Used for python bindings.
- castxml, https://github.com/CastXML/CastXML Used to generate Python bindings.
- PkgConfig, https://www.freedesktop.org/wiki/Software/pkg-config/ Used to find (compilation flags for) dependencies.
- yaml-cpp, https://github.com/jbeder/yaml-cpp Used for parsing input data for the PlanarManipulator demo.
-- The following REQUIRED packages have been found:
- Eigen3, http://eigen.tuxfamily.org A linear algebra library used throughout OMPL.
- Boost (required version >= 1.58), https://www.boost.org Used throughout OMPL for data serialization, graphs, etc.
-- The following OPTIONAL packages have not been found:
- MORSE, https://www.openrobots.org/wiki/morse OMPL includes a plugin for the MORSE Robot Simulation engine.
- Triangle, http://www.cs.cmu.edu/~quake/triangle.html Used to create triangular decompositions of polygonal 2D environments.
- flann (required version >= 1.8.3), https://github.com/mariusmuja/flann If detetected, FLANN can be used for nearest neighbor queries by OMPL.
- spot, http://spot.lrde.epita.fr Used for constructing finite automata from LTL formulae.
- Doxygen, http://doxygen.org Used to create the OMPL documentation (i.e., https://ompl.kavrakilab.org).
-- The following Python modules were found:
- numpy pyplusplus pygccxml
-- Configuring done -- Generating done -- Build files have been written to: /home/fabpilot/ompl/ompl-1.5.0/build/Release #:~/ompl/ompl-1.5.0/build/Release$ make update_bindings Scanning dependencies of target tools.h [ 33%] Preparing C++ header file for Python binding generation for module tools [ 33%] Built target tools.h Scanning dependencies of target control.h [ 33%] Preparing C++ header file for Python binding generation for module control [ 33%] Built target control.h Scanning dependencies of target geometric.h [ 33%] Preparing C++ header file for Python binding generation for module geometric [ 33%] Built target geometric.h Scanning dependencies of target base.h [ 33%] Preparing C++ header file for Python binding generation for module base [ 33%] Built target base.h Scanning dependencies of target util.h [ 66%] Preparing C++ header file for Python binding generation for module util [ 66%] Built target util.h Scanning dependencies of target update_util_bindings [ 66%] Creating C++ code for Python module util (see pyplusplus_util.log) ERROR error occured, while parsing element with name "Field" and attrs "['id', 'name', 'type', 'context', 'access', 'offset']". Error: 'line'. Error: can't generate code for module util`
Perhaps you can tell me what am I doing wrong?
Looks like I figured it out but i need to reproduce to make sure. I try latest source of CastXML not the Super. I think the pb is you need your system to use the Default version of LLVM/Clang loaded on your board. Nano sdk has a lot of stuff built-in so you need as i have learned to not deviate too much or it goes out wack quicly.
So in my case the version is 9 and you need to apt-get both llvm/clang main and dev packages for both ( so 4 packages)
Then build castxml and add OMPL dependencies but use New castxml and load apt-get gccxmlpy ... Got binding to work in python 3 sesion ---> import ompl
Hi, @chazyman could you kindly share your solution steps to us , it will be highly appreciated
I have not worked on the project in a while and I was using Jetson nano not a Pi.
As I recall you need to add a path for llvm ---> LLVM_CONFIG
Look at following for inspiration ( ibelieve llvm 9 is what I used to match the jetson default platform
https://github.com/dusty-nv/jetson-containers/blob/be0dca3d19b30e64d129c92e93425c9ede40d65f/Dockerfile.ml#L72 https://github.com/dusty-nv/jetson-containers/blob/be0dca3d19b30e64d129c92e93425c9ede40d65f/Dockerfile.ml#L72
https://learninone209186366.wordpress.com/2019/07/24/how-to-install-the-librosa-library-in-jetson-nano-or-aarch64-module/
Hope this help out
C
From: tuanhe @.> Sent: Tuesday, January 3, 2023 2:02 AM To: ompl/ompl @.> Cc: c.demontaigu centiasoftware.com @.>; Mention @.> Subject: Re: [ompl/ompl] Could not build OMPL with Python bindings on Raspberry Pi 4 (#725)
Looks like I figured it out but i need to reproduce to make sure. I try latest source of CastXML not the Super. I think the pb is you need your system to use the Default version of LLVM/Clang loaded on your board. Nano sdk has a lot of stuff built-in so you need as i have learned to not deviate too much or it goes out wack quicly.
So in my case the version is 9 and you need to apt-get both llvm/clang main and dev packages for both ( so 4 packages)
Then build castxml and add OMPL dependencies but use New castxml and load apt-get gccxmlpy ... Got binding to work in python 3 sesion ---> import ompl
Hi, @chazymanhttps://github.com/chazyman could you kindly share your solution steps to us , it will be highly appreciated
— Reply to this email directly, view it on GitHubhttps://github.com/ompl/ompl/issues/725#issuecomment-1369479361, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AD5PJEEB5ZCBYAKZCGVADDDWQPMK5ANCNFSM4NQ6INQA. You are receiving this because you were mentioned.Message ID: @.***>
See discussion in #976 #958 for reference - I believe OMPL with Python bindings builds on ARM platforms now.
