Build cisst_netlib error

[francomomo]

Hello!

I am following the instructions in section 1.3 to build tools for ROS. I am having some problems building the cisst_netlib package. It seems like it cannot find this file cisst-saw/cisstNetlib/libquadmath.a.

I am trying to build this in Ubuntu 20.04 on parallels on Macbook w/ M1 chip.

Below is the log after running catkin build --summary.

parallels@ubuntu-linux-20-04-desktop:~/catkin_ws$ catkin build --summary
--------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/noetic
Workspace:                   /home/parallels/catkin_ws
--------------------------------------------------------------
Build Space:        [exists] /home/parallels/catkin_ws/build
Devel Space:        [exists] /home/parallels/catkin_ws/devel
Install Space:      [unused] /home/parallels/catkin_ws/install
Log Space:          [exists] /home/parallels/catkin_ws/logs
Source Space:       [exists] /home/parallels/catkin_ws/src
DESTDIR:            [unused] None
--------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------------
[build] Found '55' packages in 0.0 seconds.                                                                                                          
[build] Updating package table.                                                                                                                      
Starting  >>> cisst_msgs                                                                                                                             
Starting  >>> cisst_netlib                                                                                                                           
_____________________________________________________________________________________________________________________________________________________
Errors     << cisst_netlib:install /home/parallels/catkin_ws/logs/cisst_netlib/build.install.002.log                                                 
CMake Error at cmake_install.cmake:70 (file):
  file INSTALL cannot find
  "/home/parallels/catkin_ws/src/cisst-saw/cisstNetlib/libquadmath.a": No
  such file or directory.


make: *** [Makefile:96: install] Error 1
cd /home/parallels/catkin_ws/build/cisst_netlib; catkin build --get-env cisst_netlib | catkin env -si  /usr/bin/make install; cd -

.....................................................................................................................................................
Failed     << cisst_netlib:install                                                 [ Exited with code 2 ]                                            
Failed    <<< cisst_netlib                                                         [ 0.2 seconds ]                                                   
Abandoned <<< crtk_msgs                                                            [ Unrelated job failed ]                                          
Abandoned <<< crtk_python_client                                                   [ Unrelated job failed ]                                          
Abandoned <<< dvrk_config                                                          [ Unrelated job failed ]                                          
Abandoned <<< dvrk_description                                                     [ Unrelated job failed ]                                          
Abandoned <<< dvrk_gazebo                                                          [ Unrelated job failed ]                                          
Abandoned <<< dvrk_hrsv_widget                                                     [ Unrelated job failed ]                                          
Abandoned <<< dvrk_model                                                           [ Unrelated job failed ]                                          
Abandoned <<< dvrk_python                                                          [ Unrelated job failed ]                                          
Abandoned <<< force_dimension_config                                               [ Unrelated job failed ]                                          
Abandoned <<< saw_ndi_tracker_config                                               [ Unrelated job failed ]                                          
Abandoned <<< saw_open_igt_link_utilities                                          [ Unrelated job failed ]                                          
Abandoned <<< cisst                                                                [ Unrelated job failed ]                                          
Abandoned <<< cisst_ros_bridge                                                     [ Unrelated job failed ]                                          
Abandoned <<< cisst_ros_crtk                                                       [ Unrelated job failed ]                                          
Abandoned <<< dvrk_arms_from_ros                                                   [ Unrelated job failed ]                                          
Abandoned <<< saw_ati_force_sensor                                                 [ Unrelated job failed ]                                          
Abandoned <<< saw_claron_micron_tracker                                            [ Unrelated job failed ]                                          
Abandoned <<< micron_tracker_ros                                                   [ Unrelated job failed ]                                          
Abandoned <<< saw_constraint_controller                                            [ Unrelated job failed ]                                          
Abandoned <<< saw_constraint_controller_examples                                   [ Unrelated job failed ]                                          
Abandoned <<< saw_force_dimension_sdk                                              [ Unrelated job failed ]                                          
Abandoned <<< force_dimension_ros                                                  [ Unrelated job failed ]                                          
Abandoned <<< saw_force_dimension_sdk_examples                                     [ Unrelated job failed ]                                          
Abandoned <<< saw_intuitive_da_vinci                                               [ Unrelated job failed ]                                          
Abandoned <<< isi_ros                                                              [ Unrelated job failed ]                                          
Abandoned <<< saw_intuitive_da_vinci_examples                                      [ Unrelated job failed ]                                          
Abandoned <<< saw_keyboard                                                         [ Unrelated job failed ]                                          
Abandoned <<< saw_controllers                                                      [ Unrelated job failed ]                                          
Abandoned <<< saw_controllers_examples                                             [ Unrelated job failed ]                                          
Abandoned <<< saw_ndi_tracker                                                      [ Unrelated job failed ]                                          
Abandoned <<< ndi_tracker_ros                                                      [ Unrelated job failed ]                                          
Abandoned <<< saw_ndi_tracker_examples                                             [ Unrelated job failed ]                                          
Abandoned <<< saw_open_igt_link                                                    [ Unrelated job failed ]                                          
Abandoned <<< saw_optoforce_sensor                                                 [ Unrelated job failed ]                                          
Abandoned <<< optoforce_ros                                                        [ Unrelated job failed ]                                          
Abandoned <<< saw_optoforce_sensor_examples                                        [ Unrelated job failed ]                                          
Abandoned <<< saw_robot_io_1394                                                    [ Unrelated job failed ]                                          
Abandoned <<< saw_robot_io_1394_applications                                       [ Unrelated job failed ]                                          
Abandoned <<< saw_robot_io_1394_tests                                              [ Unrelated job failed ]                                          
Abandoned <<< saw_socket_streamer                                                  [ Unrelated job failed ]                                          
Abandoned <<< saw_text_to_speech                                                   [ Unrelated job failed ]                                          
Abandoned <<< atinetft_ros                                                         [ Unrelated job failed ]                                          
Abandoned <<< saw_ati_force_sensor_examples                                        [ Unrelated job failed ]                                          
Abandoned <<< saw_intuitive_research_kit                                           [ Unrelated job failed ]                                          
Abandoned <<< dvrk_gazebo_control                                                  [ Unrelated job failed ]                                          
Abandoned <<< dvrk_robot                                                           [ Unrelated job failed ]                                          
Abandoned <<< saw_intuitive_research_kit_applications                              [ Unrelated job failed ]                                          
Abandoned <<< saw_intuitive_research_kit_example_derived_teleop_psm                [ Unrelated job failed ]                                          
Abandoned <<< saw_intuitive_research_kit_tests                                     [ Unrelated job failed ]                                          
Abandoned <<< saw_text_to_speech_examples                                          [ Unrelated job failed ]                                          
Abandoned <<< saw_universal_robot                                                  [ Unrelated job failed ]                                          
Abandoned <<< saw_universal_robot_examples                                         [ Unrelated job failed ]                                          
Abandoned <<< universal_robot_ros                                                  [ Unrelated job failed ]                                          
Finished  <<< cisst_msgs                                                           [ 0.4 seconds ]                                                   
                                                                                                                                                     
[build] Successful packages:                                                                                                                         
                                                                                                                                                     
 [Successful] cisst_msgs                                                                                                                             
                                                                                                                                                     
[build] Failed packages:                                                                                                                             
                                                                                                                                                     
 [    Failed] cisst_netlib                                                                                                                           
                                                                                                                                                     
[build] Abandoned packages:                                                                                                                          
                                                                                                                                                     
 [ Abandoned] atinetft_ros                                          [ Abandoned] cisst                                                               
 [ Abandoned] cisst_ros_bridge                                      [ Abandoned] cisst_ros_crtk                                                      
 [ Abandoned] crtk_msgs                                             [ Abandoned] crtk_python_client                                                  
 [ Abandoned] dvrk_arms_from_ros                                    [ Abandoned] dvrk_config                                                         
 [ Abandoned] dvrk_description                                      [ Abandoned] dvrk_gazebo                                                         
 [ Abandoned] dvrk_gazebo_control                                   [ Abandoned] dvrk_hrsv_widget                                                    
 [ Abandoned] dvrk_model                                            [ Abandoned] dvrk_python                                                         
 [ Abandoned] dvrk_robot                                            [ Abandoned] force_dimension_config                                              
 [ Abandoned] force_dimension_ros                                   [ Abandoned] isi_ros                                                             
 [ Abandoned] micron_tracker_ros                                    [ Abandoned] ndi_tracker_ros                                                     
 [ Abandoned] optoforce_ros                                         [ Abandoned] saw_ati_force_sensor                                                
 [ Abandoned] saw_ati_force_sensor_examples                         [ Abandoned] saw_claron_micron_tracker                                           
 [ Abandoned] saw_constraint_controller                             [ Abandoned] saw_constraint_controller_examples                                  
 [ Abandoned] saw_controllers                                       [ Abandoned] saw_controllers_examples                                            
 [ Abandoned] saw_force_dimension_sdk                               [ Abandoned] saw_force_dimension_sdk_examples                                    
 [ Abandoned] saw_intuitive_da_vinci                                [ Abandoned] saw_intuitive_da_vinci_examples                                     
 [ Abandoned] saw_intuitive_research_kit                            [ Abandoned] saw_intuitive_research_kit_applications                             
 [ Abandoned] saw_intuitive_research_kit_example_derived_teleop_psm [ Abandoned] saw_intuitive_research_kit_tests                                    
 [ Abandoned] saw_keyboard                                          [ Abandoned] saw_ndi_tracker                                                     
 [ Abandoned] saw_ndi_tracker_config                                [ Abandoned] saw_ndi_tracker_examples                                            
 [ Abandoned] saw_open_igt_link                                     [ Abandoned] saw_open_igt_link_utilities                                         
 [ Abandoned] saw_optoforce_sensor                                  [ Abandoned] saw_optoforce_sensor_examples                                       
 [ Abandoned] saw_robot_io_1394                                     [ Abandoned] saw_robot_io_1394_applications                                      
 [ Abandoned] saw_robot_io_1394_tests                               [ Abandoned] saw_socket_streamer                                                 
 [ Abandoned] saw_text_to_speech                                    [ Abandoned] saw_text_to_speech_examples                                         
 [ Abandoned] saw_universal_robot                                   [ Abandoned] saw_universal_robot_examples                                        
 [ Abandoned] universal_robot_ros                                                                                                                    
                                                                                                                                                     
[build] Summary: 1 of 55 packages succeeded.                                                                                                         
[build]   Ignored:   None.                                                                                                                           
[build]   Warnings:  None.                                                                                                                           
[build]   Abandoned: 53 packages were abandoned.                                                                                                     
[build]   Failed:    1 packages failed.                                                                                                              
[build] Runtime: 0.5 seconds total.  

[adeguet1]

• Can you run the following command and see if some new packages are getting installed: sudo apt install gfortran?
• Can you run locate quadmath and provide the output? On a x86_64, the output looks like /usr/lib/gcc/x86_64-linux-gnu/7/libquadmath.a, I'm not sure for M1 architecture.
• Can you run gfortran -print-file-name=libquadmath.a and provide the output? This is the command used in CMake to locate the library.

[francomomo]

• Yes I already have gfortran installed
• Nothing returns after running locate quadmath. After doing some digging, it seems like libquadmath0 package doesn't support ARM architecture yet. libquadmath0 package details can be found here.
• The output provided is libquadmath.a

Thank you for your help! It seems to me this is a CPU architecture issue. If you have more insight I would love to here about them!

[adeguet1]

I don't have access to a M1 computer so it's a bit challenging to debug. If you happen to be a Johns Hopkins student, maybe email me and we can either meet in person or over Zoom. Another thought, what happens if you comment out the quadmath code in CMakeLists? Lines 231 to 234 and 255? (see https://github.com/jhu-cisst/cisstNetlib/blob/19932915dc3e24bddeff7078b270f862e86e3f9e/CMakeLists.txt#L231)

[francomomo]

Yes! That solved the problem. I am able to build cisst_netlib now.

Now, I am running into the following issue

[adeguet1]

Which package are you ultimately trying to use? cisst-SAW comes with tons of different hardware wrappers and not all have been properly maintained. sawClaronMicronTracker has not been updated in a while but I could work on it if this is what you need. Also, in the recent past, we started to use wstool to pull only subsets of repository to match the users needs instead of using git --recursive and pulling tons of unused components (see for example the build instructions for the dVRK: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/CatkinBuild).