Pinocchio: C++ compilation error in ubuntu 18.04

[WangKeAlchemist]

Hi, I encountered a compilation error when I try to compile the c++ code on ubuntu 18.04:

` /opt/openrobots/include/pinocchio/parsers/urdf/geometry.hxx:256:7: error: template-id ‘getLinkGeometry’ for ‘urdf::CollisionConstSharedPtr pinocchio::urdf::details::getLinkGeometry(urdf::LinkConstSharedPtr)’ does not match any template declaration
getLinkGeometry< ::urdf::Collision>(const ::urdf::LinkConstSharedPtr link)
^~~~~~~~~~~
'

But interestingly, when I tried on ubuntu 16.04, there is no error. Also no error happens when I use the python binding on 18.04, can anyone please help me?

Thanks!

[WangKeAlchemist]

It seems that there is something wrong with the URDF parser, and I tested in ubuntu 16.04 and it indicates that it is not the problem with my code, so really weird

[aykutonol]

I just installed pinocchio via Homebrew and get the same problem with previously working code.

[jcarpent]

@WangKeAlchemist and @aykutonol which version of Pinocchio are you currently using (devel, master or an existing release)?

By the way, could you provide a code example and the command lines to compile it?

It will be really helpful to fix the bug if any.

[WangKeAlchemist]

@WangKeAlchemist and @aykutonol which version of Pinocchio are you currently using (devel, master or an existing release)?

By the way, could you provide a code example and the command lines to compile it?

It will be really helpful to fix the bug if any.

Hi @jcarpent I install the newest version of Pinocchio through robotpkg following the procedure on https://stack-of-tasks.github.io/pinocchio/download.html.

The code i write has

`#ifndef OSC_H_

define OSC_H_

define PINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR

define PINOCCHIO_WITH_URDFDOM

define PINOCCHIO_WITH_URDFDOM

include "pinocchio/multibody/model.hpp"

define PINOCCHIO_WITH_URDFDOM

include "pinocchio/multibody/model.hpp"

include "pinocchio/multibody/model.hpp"

include "pinocchio/parsers/urdf.hpp"

include "pinocchio/algorithm/joint-configuration.hpp"

include "pinocchio/algorithm/kinematics.hpp"

include "pinocchio/algorithm/jacobian.hpp"

include "pinocchio/algorithm/center-of-mass.hpp"

include "pinocchio/algorithm/center-of-mass-derivatives.hpp"

include "pinocchio/algorithm/rnea.hpp"

include "pinocchio/algorithm/crba.hpp"

include "pinocchio/algorithm/frames.hpp"

include

USING_NAMESPACE_QPOASES`

Then I put it into a catkin package and use catkin_make to compile it

[jcarpent]

On 18.04 and contrary to 16.04, you need to compile with C++11 set to on, because urdfdom is using std::shared_ptr. To do so, either you add -std=c++11 in the field CMAKE_CXX_FLAGS of CMake. Or in your project, you can add SET(CMAKE_CXX_STANDARD 11)inside your CMakeLists.txt.

[jcarpent]

In addition, @WangKeAlchemist you may improve the packaging of your project by using these lines:

find_package(pinocchio REQUIRED)
target_compile_definitions(my_lib PRIVATE ${PINOCCHIO_CFLAGS_OTHER})

or

find_package(pinocchio REQUIRED)
target_link_libraries(my_lib PRIVATE pinocchio::pinocchio)

If you need further guidance, you can refer to this issue https://github.com/stack-of-tasks/pinocchio/issues/1056

[jcarpent]

@aykutonol Could you tell me the error you encounter? Yours seems indeed different from the one encountered by @WangKeAlchemist as you are on OS X.

[WangKeAlchemist]

Hi @jcarpent , thanks for your reply! I added the C++ 11 flag, as well as the packaging as you mentioned, however I still get the same error. Below is my CMakeList, maybe you can diagnose some issues:

cmake_minimum_required(VERSION 2.8.3)
project(slider_controller)

find_package(gazebo REQUIRED)

include_directories(
"/usr/include/eigen3/"
"/usr/local/include"
"/opt/openrobots/include/"
)

link_directories("/usr/local/lib")

find_package(catkin REQUIRED COMPONENTS
geometry_msgs
roscpp
std_msgs
message_filters
message_generation
eigen_conversions
)

find_package(PkgConfig REQUIRED)
pkg_check_modules(pinocchio REQUIRED pinocchio)

add_message_files(
FILES
FloatArray.msg
)

generate_messages(
DEPENDENCIES
std_msgs
)

catkin_package(
CATKIN_DEPENDS message_runtime
)

include_directories(
${GAZEBO_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${roscpp_INCLUDE_DIRS}
${ros_lib_INCLUDE_DIRS}
)

FILE(GLOB folder_source ./src/.cc)
FILE(GLOB folder_header ./src/.h)

SET(CMAKE_CXX_STANDARD 11)

SET(CMAKE_CXX_FLAGS "-std=c++11 -pthread")
SET(GCC_COVERAGE_COMPILE_FLAGS " -O3 -std=c++11") # -std=c++11 -lprofilingS -p -lp -g -p -O3 -fopenmp
add_definitions(${GCC_COVERAGE_COMPILE_FLAGS})

LINK_LIBRARIES(
boost_system
urdfdom_model
)

add_executable(slider_controller src/slider_controller.cc ${folder_source} ${folder_header})

target_link_libraries(slider_controller PRIVATE pinocchio::pinocchio libqpOASES.so ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${LIBRARIES})

[jcarpent]

hard to debug remotely. Could you prepare a docker image with all the necessary content and share it with me ?

[jcarpent]

@WangKeAlchemist Could you also send the full compilation log? It is hard to make a diagnosis from the 4 lines you have sent.

[jcarpent]

@WangKeAlchemist You've missed to add {PINOCCHIO_CFLAGS_OTHER}in the compilation flags as I've suggested before. This flag is mandatory for 18.04, as URDF is using std::shared_ptr.
And, as you explicitly used pkg-config, this step is mandatory.

[WangKeAlchemist]

Hi @jcarpent I partially solved the problem, the suggestion you gave me on improving the packaging of the project doesn't work previously, because the CMake cannot find the pinocchio package, even though i used
find_package(PkgConfig REQUIRED) pkg_check_modules(pinocchio REQUIRED pinocchio)

I found this by print the '${PINOCCHIO_CFLAGS_OTHER}' inside CMakeList by
message(THE CFLAGS OF PINOCCHIO ARE "${PINOCCHIO_CFLAGS_OTHER}"), basically it is just empty.

Instead, by following the suggestion from issue https://github.com/stack-of-tasks/pinocchio/issues/1056, I directly add the compilation flag by using
SET(GCC_COVERAGE_COMPILE_FLAGS " -O3 -std=c++11 -DPINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR -DPINOCCHIO_URDFDOM_USE_STD_SHARED_PTR -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DPINOCCHIO_WITH_URDFDOM") add_definitions(${GCC_COVERAGE_COMPILE_FLAGS})

Although it is a bit hacky, it works. It will be better if I can figure out why the CMake cannot find the install pinocchio package.

[jmirabel]

If you use pkg_check_modules(pinocchio REQUIRED pinocchio), shouldn't you use pinocchio_CFLAGS_OTHER without capital letters instead ?

[wxmerkt]

I just ran into the same issue after pulling from devel and just calling make. The solution was to fully remove all build directories, then it worked again.

[jcarpent]

@wxmerkt Do you know which change in the pull is at the origin of this behavior?

[wxmerkt]

Sadly, I don't. v2.3.1 and current devel are incompatible and the Cmake cache difference from that difference is what caused the issue in my case.

[WangKeAlchemist]

Hi, I found the problem! As @jmirabel said, instead of PINOCCHIO_CFLAGS_OTHER which doesn't work, pinocchio_CFLAGS_OTHER works for me. target_link_libraries(my_lib PRIVATE pinocchio::pinocchio) still doesn't work for me, but even I drop it the program can be linked properly.
`

[jcarpent]

Perfect. So, I think we can close this issue as it seems to be solved.

[aykutonol]

@jcarpent sorry for my late response. I was previously working on Ubuntu, and I've just moved to OSX. I guess the error was caused by ${<pkg_module_name_for_pinocchio>_LDFLAGS} being undefined on OSX. So, adding link_directories("/usr/local/lib") and explicitly linking urdfdom_model and boost_system libraries did the trick. Thanks for your help!

[jcarpent]

@aykutonol You may have a look to https://github.com/stack-of-tasks/pinocchio-minimal for an example on how to link your project with Pinocchio.

[aykutonol]

Thank you, @jcarpent, for the reference. I installed pinocchio@2 using Homebrew, which came with eigenpy@2 2.1.0. Hence, when I link pinocchio::pinocchio, cmake throws the following error:

  Imported target "pinocchio::pinocchio" includes non-existent path
    "/usr/local/Cellar/eigenpy@@2/2.0.3/include"

Linking the libraries explicitly is okay for me unless there is a downside.

[jcarpent]

This is because I need to regenerate the images. I will try to do it in the next few hours.