blackdrops
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Issues with installing the code
Hi. I have tried to install the blackdrops code by following the easy and the advanced installation guide. How ever, I run into issues in both of them.
When following the easy installation guide, it seems that the script can't find the DART library:
ln: failed to create symbolic link 'blackdrops/..': File exists WARNING: simplejson not found some function may not work WARNING: numpy not found WARNING: pylab/matplotlib not found WARNING: brewer2mpl (colors) not found YELLOW: Could not import plot_bo_benchmarks! Will not plot anything! WARNING: simplejson not found some function may not work build dir not created (it probably already exists, this is fine) command-line options for [exp/blackdrops] : -> OK Setting top to : /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/deps/limbo Setting out to : /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/deps/limbo/build Checking for 'g++' (C++ compiler) : /usr/bin/g++ Checking for 'gcc' (C compiler) : /usr/bin/gcc Checking for compiler flags "-march=native" : yes Checking boost includes : 1_71 Checking boost libs : ok Checking for Eigen : /usr/include/eigen3 Checking Intel TBB includes (optional) : /usr/include Checking Intel TBB libs (optional) : /usr/lib/x86_64-linux-gnu Checking for compiler option to support OpenMP : -fopenmp Checking Intel MKL includes (optional) : Not found Checking for NLOpt C++ includes (optional) : /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/install/include Checking for NLOpt C++ libs (optional) : /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/install/lib Checking for libcmaes includes (optional) : /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/install/include Checking for libcmaes libs (optional) : /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/install/lib CXXFLAGS: ['-Wall', '-std=c++11', '-O3', '-g', '-march=native'] configuring for exp: blackdrops Checking for SDL (2.x - sdl2-config) : OK Checking for simple_nn includes : /usr/local/include Checking for DART includes (including io/urdf) : Not found (complete log in /home/jeppe/phd_jeppe_langaa/blackdrops_easy/blackdrops/deps/limbo/build/config.log)
When following the advanced installation, I managed to install DART properly (by following the installation guide on their website). But I ran into problems regarding magnum and corrade. The output from waf is as follows:
YELLOW: Could not import plot_bo_benchmarks! Will not plot anything! build dir not created (it probably already exists, this is fine) command-line options for [exp/blackdrops] : -> OK Setting top to : /home/jeppe/phd_jeppe_langaa/blackdrops/limbo Setting out to : /home/jeppe/phd_jeppe_langaa/blackdrops/limbo/build Checking for 'g++' (C++ compiler) : /usr/bin/g++ Checking for 'gcc' (C compiler) : /usr/bin/gcc Checking boost includes : 1_71 Checking boost libs : ok Checking for Eigen : /usr/include/eigen3 Checking Intel TBB includes (optional) : /usr/include Checking Intel TBB libs (optional) : /usr/lib/x86_64-linux-gnu Checking Intel MKL includes (optional) : Not found Checking for NLOpt C++ includes (optional) : /usr/local/include Checking for NLOpt C++ libs (optional) : /usr/lib/x86_64-linux-gnu Checking for libcmaes includes (optional) : Not found in ['/usr/local/include', '/usr/include'] Checking for compiler flags "-march=native" : yes CXXFLAGS: ['-Wall', '-std=c++11', '-O3', '-g', '-march=native'] configuring for exp: blackdrops Checking for SDL (2.x - sdl2-config) : OK Checking for simple_nn includes : /usr/local/include Checking for DART includes (including io/urdf) : 6.12.2 in /usr/include Checking for DART libs (including io/urdf) : ['dart', 'dart-utils', 'dart-utils-urdf'] DART: Checking for Assimp : /usr/include DART: Checking for Bullet Collision libs : libs: ['LinearMath', 'BulletCollision', 'dart-collision-bullet'], bullet: /usr/include/bullet DART: Checking for Ode Collision libs : libs: ['ode', 'dart-collision-ode'], ode: /usr/include DART: Checking for Octomap libs : libs: ['octomath'], octomap: /usr/include Checking for robot_dart includes : ['/usr/local/include'] Checking for robot_dart library : libRobotDARTSimu.a Checking for robot_dart GUI includes : ['/usr/local/include'] Checking for robot_dart GUI library : libRobotDARTMagnum.a Checking for Corrade includes : /usr/include Getting Corrade configuration : ['BUILD_DEPRECATED', 'TARGET_UNIX'] Checking for Corrade components : ['CorradeUtility', 'CorradePluginManager', '/usr/bin/corrade-rc'] Checking for Magnum includes : /usr/include Checking for Magnum lib : ['Magnum'] Getting Magnum configuration : ['BUILD_DEPRECATED', 'BUILD_MULTITHREADED', 'TARGET_GL'] Magnum: Checking for OpenGL includes : /usr/include Magnum: Checking for OpenGL lib : ['OpenGL'] Magnum: Checking for MagnumGL lib : ['MagnumGL'] Checking for Magnum components : ['WindowlessGlxApplication', 'MeshTools', 'SceneGraph', 'TgaImporter', 'Text', 'Shaders', 'Primitives', 'Trade', 'TextureTools', 'MagnumFont', 'GlfwApplication'] Checking for AnyImageImporter Magnum Plugin : /usr/include Checking for StbTrueTypeFont Magnum Plugin : Not found Checking for AssimpImporter Magnum Plugin : Not found Checking for Eigen Magnum Integration : Not found Checking for Dart Magnum Integration : Not found Checking for library ['pthread'] : yes CXXFLAGS (Blackdrops): ['-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new']
WHAT TO DO NOW?
[users] To compile Limbo: ./waf build [users] To compile and run unit tests: ./waf --tests [users] Read the documentation (inc. tutorials) on http://www.resibots.eu/limbo [developers] To compile the HTML documentation (this requires sphinx and the resibots theme): ./waf docs [developers] To compile the BO benchmarks: ./waf build_bo_benchmarks [developers] To run the BO benchmarks: ./waf run_bo_benchmarks [developers] To compile the regression benchmarks (requires a json file with the setup): ./waf --regression_benchmarks file.json [developers] To run the regression benchmarks: ./waf run_regression_benchmarks --regression_benchmarks file.json [developers] To compile the extensive tests: ./waf build_extensive_tests 'configure' finished successfully (0.312s)
And the build fails with these errors:
File "./waf", line 165, in
Build failed -> task in 'planar_arm_finished_graphic' failed with exit status 1: {task 140367620876112: cxx planar_arm_finished.cpp -> planar_arm_finished.cpp.4.o} ['/usr/bin/g++', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-Iexp/blackdrops/src/tutorials', '-I../exp/blackdrops/src/tutorials', '-Isrc', '-I../src', '-Iexp/blackdrops/src', '-I../exp/blackdrops/src', '-Iexp/blackdrops/include', '-I../exp/blackdrops/include', '-I/usr/include', '-I/usr/include/eigen3', '-I../src', '-I/usr/local/include', '-I/usr/include/SDL2', '-DHAVE_SDL=1', '-DGRAPHIC', '-DUSE_TBB', '-DUSE_NLOPT', '-D_REENTRANT', '-DUSE_SDL', '../exp/blackdrops/src/tutorials/planar_arm_finished.cpp', '-c', '-o/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/build/exp/blackdrops/src/tutorials/planar_arm_finished.cpp.4.o'] -> task in 'planar_arm_finished_simu' failed with exit status 1: {task 140367620875856: cxx planar_arm_finished.cpp -> planar_arm_finished.cpp.3.o} ['/usr/bin/g++', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-D NODSP', '-Iexp/blackdrops/src/tutorials', '-I../exp/blackdrops/src/tutorials', '-Isrc', '-I../src', '-Iexp/blackdrops/src', '-I../exp/blackdrops/src', '-Iexp/blackdrops/include', '-I../exp/blackdrops/include', '-I/usr/include', '-I/usr/include/eigen3', '-I../src', '-I/usr/local/include', '-I/usr/include/SDL2', '-DHAVE_SDL=1', '-DSIMU', '-DUSE_TBB', '-DUSE_NLOPT', '-D_REENTRANT', '-DUSE_SDL', '../exp/blackdrops/src/tutorials/planar_arm_finished.cpp', '-c', '-o/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/build/exp/blackdrops/src/tutorials/planar_arm_finished.cpp.3.o'] -> task in 'planar_arm_simu' failed with exit status 1: {task 140367620875344: cxx planar_arm.cpp -> planar_arm.cpp.1.o} ['/usr/bin/g++', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-D NODSP', '-Iexp/blackdrops/src/tutorials', '-I../exp/blackdrops/src/tutorials', '-Isrc', '-I../src', '-Iexp/blackdrops/src', '-I../exp/blackdrops/src', '-Iexp/blackdrops/include', '-I../exp/blackdrops/include', '-I/usr/include', '-I/usr/include/eigen3', '-I../src', '-I/usr/local/include', '-I/usr/include/SDL2', '-DHAVE_SDL=1', '-DSIMU', '-DUSE_TBB', '-DUSE_NLOPT', '-D_REENTRANT', '-DUSE_SDL', '../exp/blackdrops/src/tutorials/planar_arm.cpp', '-c', '-o/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/build/exp/blackdrops/src/tutorials/planar_arm.cpp.1.o'] -> task in 'planar_arm_graphic' failed with exit status 1: {task 140367620875600: cxx planar_arm.cpp -> planar_arm.cpp.2.o} ['/usr/bin/g++', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-Wall', '-std=c++11', '-O3', '-g', '-march=native', '-faligned-new', '-Iexp/blackdrops/src/tutorials', '-I../exp/blackdrops/src/tutorials', '-Isrc', '-I../src', '-Iexp/blackdrops/src', '-I../exp/blackdrops/src', '-Iexp/blackdrops/include', '-I../exp/blackdrops/include', '-I/usr/include', '-I/usr/include/eigen3', '-I../src', '-I/usr/local/include', '-I/usr/include/SDL2', '-DHAVE_SDL=1', '-DGRAPHIC', '-DUSE_TBB', '-DUSE_NLOPT', '-D_REENTRANT', '-DUSE_SDL', '../exp/blackdrops/src/tutorials/planar_arm.cpp', '-c', '-o/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/build/exp/blackdrops/src/tutorials/planar_arm.cpp.2.o']
I am not sure what to do from here.
Also, is it possible to switch from python 2.7 to 3.8? I've tried to switch, but it seems to be causing further problems.
Best regards Jeppe.
