DART not found, for both basic and advanced installs on OSX

[BoltzmannBrain]

I've attempted both the basic and advanced setup guides (OSX 10.14), but both fail when looking for DART. For example, from my robot_dart base dir (/Users/bb/robot_dart/):

$ ./waf configure
Setting top to                           : /Users/bb/robot_dart 
Setting out to                           : /Users/bb/robot_dart/build 
Checking for 'clang++' (C++ compiler)    : /usr/bin/clang++ 
Checking for 'clang' (C compiler)        : /usr/bin/clang 
Checking boost includes                  : 1_67 
Checking boost libs                      : ok 
Checking for Eigen                       : ok 
Checking for DART includes (including utils/urdf) : ok 
Checking for DART gui includes                    : ok 
DART: Checking for optional Bullet includes       : ok 
Checking for DART libs (including utils/urdf)     : Not found 
['-Wall', '-std=c++11', '-O3', '-march=native', '-g']
'configure' finished successfully (0.113s)

However I'm able to successfully build and install DART, and all tests pass (as directed in their install guide). I've also tried the different DART tag (v6.6.1) and commit (244d89c0) options, but to no avail.

And running $ sudo find / -name "libdart.so" yields no results; this is the first DART file searched for in robot_dart/waf_tools/dart.py.

[jbmouret]

This is because shared libraries on mac use .dyld instead of .so

I will have a look to search for both suffices

However I'm able to successfully build and install DART, and all tests pass

(as directed in their install guide http://dartsim.github.io/install_dart_on_mac.html). I've also tried the different DART tag (v6.6.1) and commit (244d89c0) options, but to no avail.

And running $ sudo find / -name "libdart.so" yields no results; this is the first DART file searched for in robot_dart/waf_tools/dart.py.

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[costashatz]

Hello @BoltzmannBrain,

Thanks for using our code! The issue is in this file (it is in robot_dart). Can you replace it by this one and let me know if it is fixed?

[BoltzmannBrain]

Thank you for quickly following up with this modification @costashatz!

With that robot_dart/waf_tools/dart.py the configure steps succeeds:

$ ./waf configure
Setting top to                           : /Users/bb/robot_dart 
Setting out to                           : /Users/bb/robot_dart/build 
Checking for 'clang++' (C++ compiler)    : /usr/bin/clang++ 
Checking for 'clang' (C compiler)        : /usr/bin/clang 
Checking boost includes                  : 1_67 
Checking boost libs                      : ok 
Checking for Eigen                       : ok 
Checking for DART includes (including io/urdf) : 6.2.1 in /usr/local/include 
Checking for DART gui includes                 : /usr/local/include 
Checking for DART libs (including io/urdf)     : ['dart', 'dart-utils', 'dart-utils-urdf'] 
DART: Checking for Assimp                      : /usr/local/include 
DART: Checking for Bullet Collision libs       : libs: ['LinearMath', 'BulletCollision', 'dart-collision-bullet'], bullet: /usr/local/include/bullet 
DART: Checking for gui libs                    : ['dart-gui', 'dart-gui-osg'] 
DART: Checking for OSG (optional)              : ['osg', 'osgViewer', 'osgManipulator', 'osgGA', 'osgDB', 'osgShadow', 'OpenThreads'] 
['-Wall', '-std=c++11', '-O3', '-march=native', '-g']
'configure' finished successfully (0.111s)

Note this only worked when I built DART on commit 244d89c0, and did not work w/ DART v6.6.1 (which is suggested in their install steps).

But when I continue to compile the blackdrops code, DART cannot be found:

$ ./waf configure --exp blackdrops
WARNING: simplejson not found some function may not work 
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                           : /Users/bb/limbo 
Setting out to                           : /Users/bb/limbo/build 
Checking for 'clang++' (C++ compiler)    : /usr/bin/clang++ 
Checking for 'clang' (C compiler)        : /usr/bin/clang 
Checking for compiler flags "-march=native" : yes 
Checking boost includes                     : 1_67 
Checking boost libs                         : ok 
Checking for Eigen                          : /usr/local/include/eigen3 
Checking Intel TBB includes (optional)      : /usr/local/include 
Checking Intel TBB libs (optional)          : /usr/local/lib 
Checking for compiler option to support OpenMP : Not supported 
Checking Intel MKL includes (optional)         : Not found 
Checking for NLOpt C++ includes (optional)     : /usr/local/include 
Checking for NLOpt C++ libs (optional)         : /usr/local/lib 
Checking for libcmaes includes (optional)      : /usr/local/include 
Checking for libcmaes libs (optional)          : /usr/local/lib 
CXXFLAGS: ['-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native'] 
configuring for exp: blackdrops 
Checking for SDL (2.x - sdl2-config)           : ok 
Checking boost includes                        : 1_67 
Checking boost libs                            : ok 
Checking for Eigen                             : /usr/local/include/eigen3 
Checking for DART includes (including utils/urdf) : ok 
Checking for DART gui includes                    : ok 
DART: Checking for optional Bullet includes       : ok 
Checking for DART libs (including utils/urdf)     : Not found 
Checking for robot_dart includes                  : ok 
Checking for hexapod_controller includes          : Not found 
 
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 (0.435s)

I suspect we'll need a similar fix in the limbo/waf_tools/ scripts. Would you be able to provide me with this and I'll test it?

[BoltzmannBrain]

FWIW I attempted the suffix fix but this did not work:

$ git diff
diff --git a/waf_tools/dart.py b/waf_tools/dart.py
index 111693d..1114b88 100644
--- a/waf_tools/dart.py
+++ b/waf_tools/dart.py
@@ -80,6 +80,9 @@ def check_dart(conf):
                        includes_check = [os.environ['RESIBOTS_DIR'] + '/include'] + includes_check
                        libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
 
+       # OSX/Mac uses .dylib and GNU/Linux .so
+       suffix = 'dylib' if conf.env['DEST_OS'] == '.darwin' else '.so'
+
        # DART requires some of bullets includes (if installed with bullet enabled)
        bullet_check = ['/usr/local/include/bullet', '/usr/include/bullet']
        bullet_found = False
@@ -94,7 +97,7 @@ def check_dart(conf):
        assimp_found = False
        try:
                assimp_found = conf.find_file('assimp/scene.h', assimp_check)
-               assimp_found = assimp_found and conf.find_file('libassimp.so', assimp_libs)
+               assimp_found = assimp_found and conf.find_file('libassimp' + suffix, assimp_libs)
        except:
                assimp_found = False
 
@@ -107,7 +110,7 @@ def check_dart(conf):
                osg_found = True
                for f in osg_comp:
                        osg_found = osg_found and conf.find_file(f + '/Version', osg_check)
-                       osg_found = osg_found and conf.find_file('lib' + f + '.so', osg_libs)
+                       osg_found = osg_found and conf.find_file('lib' + f + suffix, osg_libs)
        except:
                osg_found = False
 
@@ -134,9 +137,9 @@ def check_dart(conf):
                if assimp_found:
                        more_includes += assimp_check
                conf.start_msg('Checking for DART libs (including utils/urdf)')
-               res = res and conf.find_file('libdart.so', libs_check)
-               res = res and conf.find_file('libdart-utils.so', libs_check)
-               res = res and conf.find_file('libdart-utils-urdf.so', libs_check)
+               res = res and conf.find_file('libdart' + suffix, libs_check)
+               res = res and conf.find_file('libdart-utils' + suffix, libs_check)
+               res = res and conf.find_file('libdart-utils-urdf' + suffix, libs_check)
                conf.end_msg('ok')
                conf.env.INCLUDES_DART = includes_check + more_includes
                conf.env.LIBPATH_DART = libs_check
@@ -153,8 +156,8 @@ def check_dart(conf):
                        conf.env.LIB_DART.append('LinearMath')
                try:
                        conf.start_msg('Checking for DART gui libs')
-                       res = res and conf.find_file('libdart-gui.so', libs_check)
-                       res = res and conf.find_file('libdart-gui-osg.so', libs_check)
+                       res = res and conf.find_file('libdart-gui' + suffix, libs_check)
+                       res = res and conf.find_file('libdart-gui-osg' + suffix, libs_check)

[jbmouret]

I think you also need to replace exp/blackdrops/waf_tools/dart.py with Konstantinos's file.

I will have a look and try to push fixes. So far we only tested the basic installation on mac (without dart), this is why we have never this problem.

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[BoltzmannBrain]

Okay thank you @jbmouret. The configure step now succeeds 👍 However executing ./waf --exp blackdrops -j4 fails:

Waf: Leaving directory `/Users/alex/Code/limbo/build'
Build failed
 -> task in 'cartpole_simu' failed (exit status 1):
	{task 4620140880: cxx cartpole.cpp -> cartpole.cpp.1.o}
['/usr/bin/clang++', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-D NODSP', '-I/Users/alex/Code/limbo/build/exp/blackdrops/src/classic_control', '-I/Users/alex/Code/limbo/exp/blackdrops/src/classic_control', '-I/Users/alex/Code/limbo/build/src', '-I/Users/alex/Code/limbo/src', '-I/Users/alex/Code/limbo/build/exp/blackdrops/src', '-I/Users/alex/Code/limbo/exp/blackdrops/src', '-I/Users/alex/Code/limbo/build/exp/blackdrops/include', '-I/Users/alex/Code/limbo/exp/blackdrops/include', '-I/usr/local/include', '-I/usr/local/include/eigen3', '-I/Users/alex/Code/limbo/src', '-I/usr/local/include/SDL2', '-DSIMU', '-DUSE_TBB', '-DUSE_LIBCMAES', '-DUSE_NLOPT', '-DHAVE_SDL=1', '-D_THREAD_SAFE', '-DUSE_SDL', '../exp/blackdrops/src/classic_control/cartpole.cpp', '-c', '-o', '/Users/alex/Code/limbo/build/exp/blackdrops/src/classic_control/cartpole.cpp.1.o']
 -> task in 'cartpole_simu_spgps' failed (exit status 1):
	{task 4620141136: cxx cartpole.cpp -> cartpole.cpp.2.o}
['/usr/bin/clang++', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-D NODSP', '-I/Users/alex/Code/limbo/build/exp/blackdrops/src/classic_control', '-I/Users/alex/Code/limbo/exp/blackdrops/src/classic_control', '-I/Users/alex/Code/limbo/build/src', '-I/Users/alex/Code/limbo/src', '-I/Users/alex/Code/limbo/build/exp/blackdrops/src', '-I/Users/alex/Code/limbo/exp/blackdrops/src', '-I/Users/alex/Code/limbo/build/exp/blackdrops/include', '-I/Users/alex/Code/limbo/exp/blackdrops/include', '-I/usr/local/include', '-I/usr/local/include/eigen3', '-I/Users/alex/Code/limbo/src', '-I/usr/local/include/SDL2', '-DSIMU', '-DSPGPS', '-DUSE_TBB', '-DUSE_LIBCMAES', '-DUSE_NLOPT', '-DHAVE_SDL=1', '-D_THREAD_SAFE', '-DUSE_SDL', '../exp/blackdrops/src/classic_control/cartpole.cpp', '-c', '-o', '/Users/alex/Code/limbo/build/exp/blackdrops/src/classic_control/cartpole.cpp.2.o']

FWIW building and running other limbo code, e.g. the BO benchmarks, succeeds.

Thank you for your help here! I hope I'm also of use by testing the advanced setup on OSX 😄

[jbmouret]

Can you do paste the full output of ./waf -v --exp blackdrops ?

There should a compilation error.

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[BoltzmannBrain]

$ ./waf -v --exp blackdrops -j4
WARNING: Could not import plot module: 'text.fontsize is not a valid rc parameter. See rcParams.keys() for a list of valid parameters.'
 Will not plot anything!
build dir not created (it probably already exists, this is fine)
command-line options for [exp/blackdrops] :  -> OK
Waf: Entering directory `/Users/bb/limbo/build'
Building exp: blackdrops
[26/84] Linking build/exp/blackdrops/src/tutorials/dart_reacher2d_simu
07:27:09 runner ['/usr/bin/clang++', 'exp/blackdrops/src/tutorials/dart_reacher2d.cpp.5.o', '-o', '/Users/bb/limbo/build/exp/blackdrops/src/tutorials/dart_reacher2d_simu', '-Lsrc', '-llimbo', '-L/usr/local/lib', '-L/usr/local/lib', '-L/usr/local/lib', '-L/usr/local/lib', '-L/usr/local/lib', '-L/usr/local/lib', '-ltbb', '-lboost_serialization-mt', '-lboost_filesystem-mt', '-lboost_system-mt', '-lboost_unit_test_framework-mt', '-lboost_program_options-mt', '-lboost_thread-mt', '-lcmaes', '-lnlopt_cxx', '-ldart', '-ldart-utils', '-ldart-utils-urdf', '-lassimp', '-lLinearMath', '-lBulletCollision', '-ldart-collision-bullet', '-lboost_regex-mt', '-lboost_system-mt', '-lpthread']
[28/84] Linking build/exp/blackdrops/src/tutorials/dart_reacher2d_graphic
07:27:09 runner ['/usr/bin/clang++', 'exp/blackdrops/src/tutorials/dart_reacher2d.cpp.6.o', '-o', '/Users/bb/limbo/build/exp/blackdrops/src/tutorials/dart_reacher2d_graphic', '-Lsrc', '-llimbo', '-L/usr/local/lib', '-L/usr/local/lib', '-L/usr/local/lib', '-L/usr/local/lib', '-L/usr/local/lib', '-L/usr/local/lib', '-L/usr/local/lib', '-ltbb', '-lboost_serialization-mt', '-lboost_filesystem-mt', '-lboost_system-mt', '-lboost_unit_test_framework-mt', '-lboost_program_options-mt', '-lboost_thread-mt', '-lcmaes', '-lnlopt_cxx', '-ldart', '-ldart-utils', '-ldart-utils-urdf', '-lassimp', '-lLinearMath', '-lBulletCollision', '-ldart-collision-bullet', '-lboost_regex-mt', '-lboost_system-mt', '-lpthread', '-ldart', '-ldart-utils', '-ldart-utils-urdf', '-lassimp', '-lLinearMath', '-lBulletCollision', '-ldart-collision-bullet', '-ldart-gui', '-ldart-gui-osg', '-losg', '-losgViewer', '-losgManipulator', '-losgGA', '-losgDB', '-losgShadow', '-lOpenThreads']
[29/84] Compiling exp/blackdrops/src/classic_control/cartpole.cpp
07:27:09 runner ['/usr/bin/clang++', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-D NODSP', '-I/Users/bb/limbo/build/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/build/src', '-I/Users/bb/limbo/src', '-I/Users/bb/limbo/build/exp/blackdrops/src', '-I/Users/bb/limbo/exp/blackdrops/src', '-I/Users/bb/limbo/build/exp/blackdrops/include', '-I/Users/bb/limbo/exp/blackdrops/include', '-I/usr/local/include', '-I/usr/local/include/eigen3', '-I/Users/bb/limbo/src', '-I/usr/local/include/SDL2', '-DSIMU', '-DUSE_TBB', '-DUSE_LIBCMAES', '-DUSE_NLOPT', '-DHAVE_SDL=1', '-D_THREAD_SAFE', '-DUSE_SDL', '../exp/blackdrops/src/classic_control/cartpole.cpp', '-c', '-o', '/Users/bb/limbo/build/exp/blackdrops/src/classic_control/cartpole.cpp.1.o']
[31/84] Compiling exp/blackdrops/src/classic_control/cartpole.cpp
07:27:09 runner ['/usr/bin/clang++', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-D NODSP', '-I/Users/bb/limbo/build/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/build/src', '-I/Users/bb/limbo/src', '-I/Users/bb/limbo/build/exp/blackdrops/src', '-I/Users/bb/limbo/exp/blackdrops/src', '-I/Users/bb/limbo/build/exp/blackdrops/include', '-I/Users/bb/limbo/exp/blackdrops/include', '-I/usr/local/include', '-I/usr/local/include/eigen3', '-I/Users/bb/limbo/src', '-I/usr/local/include/SDL2', '-DSIMU', '-DGPPOLICY', '-DUSE_TBB', '-DUSE_LIBCMAES', '-DUSE_NLOPT', '-DHAVE_SDL=1', '-D_THREAD_SAFE', '-DUSE_SDL', '../exp/blackdrops/src/classic_control/cartpole.cpp', '-c', '-o', '/Users/bb/limbo/build/exp/blackdrops/src/classic_control/cartpole.cpp.3.o']
[30/84] Compiling exp/blackdrops/src/classic_control/cartpole.cpp
07:27:09 runner ['/usr/bin/clang++', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-D NODSP', '-I/Users/bb/limbo/build/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/build/src', '-I/Users/bb/limbo/src', '-I/Users/bb/limbo/build/exp/blackdrops/src', '-I/Users/bb/limbo/exp/blackdrops/src', '-I/Users/bb/limbo/build/exp/blackdrops/include', '-I/Users/bb/limbo/exp/blackdrops/include', '-I/usr/local/include', '-I/usr/local/include/eigen3', '-I/Users/bb/limbo/src', '-I/usr/local/include/SDL2', '-DSIMU', '-DSPGPS', '-DUSE_TBB', '-DUSE_LIBCMAES', '-DUSE_NLOPT', '-DHAVE_SDL=1', '-D_THREAD_SAFE', '-DUSE_SDL', '../exp/blackdrops/src/classic_control/cartpole.cpp', '-c', '-o', '/Users/bb/limbo/build/exp/blackdrops/src/classic_control/cartpole.cpp.2.o']
[32/84] Compiling exp/blackdrops/src/classic_control/cartpole.cpp
07:27:09 runner ['/usr/bin/clang++', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-D NODSP', '-I/Users/bb/limbo/build/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/build/src', '-I/Users/bb/limbo/src', '-I/Users/bb/limbo/build/exp/blackdrops/src', '-I/Users/bb/limbo/exp/blackdrops/src', '-I/Users/bb/limbo/build/exp/blackdrops/include', '-I/Users/bb/limbo/exp/blackdrops/include', '-I/usr/local/include', '-I/usr/local/include/eigen3', '-I/Users/bb/limbo/src', '-I/usr/local/include/SDL2', '-DSIMU', '-DGPPOLICY', '-DSPGPS', '-DUSE_TBB', '-DUSE_LIBCMAES', '-DUSE_NLOPT', '-DHAVE_SDL=1', '-D_THREAD_SAFE', '-DUSE_SDL', '../exp/blackdrops/src/classic_control/cartpole.cpp', '-c', '-o', '/Users/bb/limbo/build/exp/blackdrops/src/classic_control/cartpole.cpp.4.o']
In file included from ../exp/blackdrops/src/classic_control/cartpole.cpp:56:
In file included from /Users/bb/limbo/src/limbo/limbo.hpp:50:
In file included from /Users/bb/limbo/src/limbo/bayes_opt.hpp:49:
In file included from /Users/bb/limbo/src/limbo/bayes_opt/boptimizer.hpp:57:
In file included from /Users/bb/limbo/src/limbo/bayes_opt/bo_base.hpp:67:
In file included from /Users/bb/limbo/src/limbo/init/random_sampling.hpp:52:
In file included from /Users/bb/limbo/src/limbo/tools/random_generator.hpp:53:
/Users/bb/limbo/src/external/rand_utils.hpp:451:32: warning: unused variable 'compile_stamp' [-Wunused-variable]
            constexpr uint32_t compile_stamp = fnv(2166136261U, __DATE__ __TIME__ __FILE__);
                               ^
../exp/blackdrops/src/classic_control/cartpole.cpp:69:10: fatal error: 'limbo/experimental/model/poegp.hpp' file not found
#include <limbo/experimental/model/poegp.hpp>
         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1 warning and 1 error generated.

In file included from ../exp/blackdrops/src/classic_control/cartpole.cpp:56:
In file included from /Users/bb/limbo/src/limbo/limbo.hpp:50:
In file included from /Users/bb/limbo/src/limbo/bayes_opt.hpp:49:
In file included from /Users/bb/limbo/src/limbo/bayes_opt/boptimizer.hpp:57:
In file included from /Users/bb/limbo/src/limbo/bayes_opt/bo_base.hpp:67:
In file included from /Users/bb/limbo/src/limbo/init/random_sampling.hpp:52:
In file included from /Users/bb/limbo/src/limbo/tools/random_generator.hpp:53:
/Users/bb/limbo/src/external/rand_utils.hpp:451:32: warning: unused variable 'compile_stamp' [-Wunused-variable]
            constexpr uint32_t compile_stamp = fnv(2166136261U, __DATE__ __TIME__ __FILE__);
                               ^
../exp/blackdrops/src/classic_control/cartpole.cpp:69:10: fatal error: 'limbo/experimental/model/poegp.hpp' file not found
#include <limbo/experimental/model/poegp.hpp>
         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1 warning and 1 error generated.

In file included from ../exp/blackdrops/src/classic_control/cartpole.cpp:56:
In file included from /Users/bb/limbo/src/limbo/limbo.hpp:50:
In file included from /Users/bb/limbo/src/limbo/bayes_opt.hpp:49:
In file included from /Users/bb/limbo/src/limbo/bayes_opt/boptimizer.hpp:57:
In file included from /Users/bb/limbo/src/limbo/bayes_opt/bo_base.hpp:67:
In file included from /Users/bb/limbo/src/limbo/init/random_sampling.hpp:52:
In file included from /Users/bb/limbo/src/limbo/tools/random_generator.hpp:53:
/Users/bb/limbo/src/external/rand_utils.hpp:451:32: warning: unused variable 'compile_stamp' [-Wunused-variable]
            constexpr uint32_t compile_stamp = fnv(2166136261U, __DATE__ __TIME__ __FILE__);
                               ^
../exp/blackdrops/src/classic_control/cartpole.cpp:69:10: fatal error: 'limbo/experimental/model/poegp.hpp' file not found
#include <limbo/experimental/model/poegp.hpp>
         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1 warning and 1 error generated.

In file included from ../exp/blackdrops/src/classic_control/cartpole.cpp:56:
In file included from /Users/bb/limbo/src/limbo/limbo.hpp:50:
In file included from /Users/bb/limbo/src/limbo/bayes_opt.hpp:49:
In file included from /Users/bb/limbo/src/limbo/bayes_opt/boptimizer.hpp:57:
In file included from /Users/bb/limbo/src/limbo/bayes_opt/bo_base.hpp:67:
In file included from /Users/bb/limbo/src/limbo/init/random_sampling.hpp:52:
In file included from /Users/bb/limbo/src/limbo/tools/random_generator.hpp:53:
/Users/bb/limbo/src/external/rand_utils.hpp:451:32: warning: unused variable 'compile_stamp' [-Wunused-variable]
            constexpr uint32_t compile_stamp = fnv(2166136261U, __DATE__ __TIME__ __FILE__);
                               ^
../exp/blackdrops/src/classic_control/cartpole.cpp:69:10: fatal error: 'limbo/experimental/model/poegp.hpp' file not found
#include <limbo/experimental/model/poegp.hpp>
         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1 warning and 1 error generated.

Waf: Leaving directory `/Users/bb/limbo/build'
Build failed
 -> task in 'cartpole_simu_spgps' failed (exit status 1):
    {task 4655972816: cxx cartpole.cpp -> cartpole.cpp.2.o}
['/usr/bin/clang++', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-D NODSP', '-I/Users/bb/limbo/build/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/build/src', '-I/Users/bb/limbo/src', '-I/Users/bb/limbo/build/exp/blackdrops/src', '-I/Users/bb/limbo/exp/blackdrops/src', '-I/Users/bb/limbo/build/exp/blackdrops/include', '-I/Users/bb/limbo/exp/blackdrops/include', '-I/usr/local/include', '-I/usr/local/include/eigen3', '-I/Users/bb/limbo/src', '-I/usr/local/include/SDL2', '-DSIMU', '-DSPGPS', '-DUSE_TBB', '-DUSE_LIBCMAES', '-DUSE_NLOPT', '-DHAVE_SDL=1', '-D_THREAD_SAFE', '-DUSE_SDL', '../exp/blackdrops/src/classic_control/cartpole.cpp', '-c', '-o', '/Users/bb/limbo/build/exp/blackdrops/src/classic_control/cartpole.cpp.2.o']
 -> task in 'cartpole_simu_gppolicy' failed (exit status 1):
    {task 4655973072: cxx cartpole.cpp -> cartpole.cpp.3.o}
['/usr/bin/clang++', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-D NODSP', '-I/Users/bb/limbo/build/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/build/src', '-I/Users/bb/limbo/src', '-I/Users/bb/limbo/build/exp/blackdrops/src', '-I/Users/bb/limbo/exp/blackdrops/src', '-I/Users/bb/limbo/build/exp/blackdrops/include', '-I/Users/bb/limbo/exp/blackdrops/include', '-I/usr/local/include', '-I/usr/local/include/eigen3', '-I/Users/bb/limbo/src', '-I/usr/local/include/SDL2', '-DSIMU', '-DGPPOLICY', '-DUSE_TBB', '-DUSE_LIBCMAES', '-DUSE_NLOPT', '-DHAVE_SDL=1', '-D_THREAD_SAFE', '-DUSE_SDL', '../exp/blackdrops/src/classic_control/cartpole.cpp', '-c', '-o', '/Users/bb/limbo/build/exp/blackdrops/src/classic_control/cartpole.cpp.3.o']
 -> task in 'cartpole_simu_gppolicy_spgps' failed (exit status 1):
    {task 4655973328: cxx cartpole.cpp -> cartpole.cpp.4.o}
['/usr/bin/clang++', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-D NODSP', '-I/Users/bb/limbo/build/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/build/src', '-I/Users/bb/limbo/src', '-I/Users/bb/limbo/build/exp/blackdrops/src', '-I/Users/bb/limbo/exp/blackdrops/src', '-I/Users/bb/limbo/build/exp/blackdrops/include', '-I/Users/bb/limbo/exp/blackdrops/include', '-I/usr/local/include', '-I/usr/local/include/eigen3', '-I/Users/bb/limbo/src', '-I/usr/local/include/SDL2', '-DSIMU', '-DGPPOLICY', '-DSPGPS', '-DUSE_TBB', '-DUSE_LIBCMAES', '-DUSE_NLOPT', '-DHAVE_SDL=1', '-D_THREAD_SAFE', '-DUSE_SDL', '../exp/blackdrops/src/classic_control/cartpole.cpp', '-c', '-o', '/Users/bb/limbo/build/exp/blackdrops/src/classic_control/cartpole.cpp.4.o']
 -> task in 'cartpole_simu' failed (exit status 1):
    {task 4655972560: cxx cartpole.cpp -> cartpole.cpp.1.o}
['/usr/bin/clang++', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-Wall', '-std=c++11', '-fdiagnostics-color', '-O3', '-g', '-march=native', '-D NODSP', '-I/Users/bb/limbo/build/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/exp/blackdrops/src/classic_control', '-I/Users/bb/limbo/build/src', '-I/Users/bb/limbo/src', '-I/Users/bb/limbo/build/exp/blackdrops/src', '-I/Users/bb/limbo/exp/blackdrops/src', '-I/Users/bb/limbo/build/exp/blackdrops/include', '-I/Users/bb/limbo/exp/blackdrops/include', '-I/usr/local/include', '-I/usr/local/include/eigen3', '-I/Users/bb/limbo/src', '-I/usr/local/include/SDL2', '-DSIMU', '-DUSE_TBB', '-DUSE_LIBCMAES', '-DUSE_NLOPT', '-DHAVE_SDL=1', '-D_THREAD_SAFE', '-DUSE_SDL', '../exp/blackdrops/src/classic_control/cartpole.cpp', '-c', '-o', '/Users/bb/limbo/build/exp/blackdrops/src/classic_control/cartpole.cpp.1.o']

[BoltzmannBrain]

I realize from that stacktrace that I'm on limbo master branch, not "spt" as specified in your installation instructions. I'm correcting this now and will followup with the result...

[BoltzmannBrain]

Ran into a few narrowing conversion errors:

../exp/blackdrops/src/classic_control/pendubot.cpp:135:20: error: type 'double' cannot be narrowed to 'int' in initializer list [-Wc++11-narrowing]
    outlineRect = {SCREEN_WIDTH / 2 + x1 * SCREEN_HEIGHT / 4 - 0.05 * SCREEN_HEIGHT / 4, SCREEN_HEIGHT / 2 - y1 * SCREEN_HEIGHT / 4 - 0.05 * SCREEN_HEIGHT / 4, static_cast<int>(0.1 * SCREEN_HEIGHT / 4), static_cast<int>(0.1 * SCREEN_HEIGHT / 4)};
                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Fix:

outlineRect = {
    static_cast<int>(SCREEN_WIDTH / 2 + x1 * SCREEN_HEIGHT / 4 - 0.05 * SCREEN_HEIGHT / 4),
    static_cast<int>(SCREEN_HEIGHT / 2 - y1 * SCREEN_HEIGHT / 4 - 0.05 * SCREEN_HEIGHT / 4),
    static_cast<int>(0.1 * SCREEN_HEIGHT / 4),
    static_cast<int>(0.1 * SCREEN_HEIGHT / 4)
};

And then the build finishes successfully 😄

[BoltzmannBrain]

@jbmouret @costashatz I'm happy to contribute these changes in a PR, but I'm not sure about your outside-contributions policy. Just let me know!

[costashatz]

And then the build finishes successfully

Great! Thanks!

Next week I will try to upload the newer code for blackdrops (it's a bit different than how it is now) and fix all the issues..

[jbmouret]

@BoltzmannBrain Thanks. We are happy to accept outside contributions, but this should work soon. There is now a PR with most of these fixes (https://github.com/resibots/blackdrops/pull/9). We will work with @costashatz to include them in the new release next week.

[BoltzmannBrain]

Sounds good, looking forward to the new release. Thanks for all the help!

[costashatz]

@jbmouret can you check that the new version (just merged to master) works on MacOS? Thanks!