Issues with installing the code

[jeppelangaa]

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
Scripting.waf_entry_point(cwd, VERSION, wafdir)
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Scripting.py", line 119, in waf_entry_point
run_commands()
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Scripting.py", line 179, in run_commands
ctx=run_command(cmd_name)
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Scripting.py", line 170, in run_command
ctx.execute()
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Scripting.py", line 367, in execute
return execute_method(self)
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Build.py", line 93, in execute
self.execute_build()
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Build.py", line 100, in execute_build
self.compile()
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Tools/errcheck.py", line 140, in check_compile
ret=self.orig_compile()
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Build.py", line 176, in compile
raise Errors.BuildError(self.producer.error)
File "/home/jeppe/phd_jeppe_langaa/blackdrops/limbo/.waf-2.0.13-4c5a17779813574907c253ab5418388d/waflib/Errors.py", line 26, in init
WafError.init(self,self.format_error())

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.

[costashatz]

Hello! Thanks for the interest in our library!

Sorry for the late reply: I was on vacations...

Did you try uninstalling everything and trying the scripts? See here and here.