can't build abb_libegm_samples

[ejbkdb]

I'm having difficulty building the abb_libegm_samples from: issue 18

I downloaded a protoc executable from: link, copied it to /usr/bin and chmod +x protoc so it would run, I was able to build abb_libegm. I was not able to experience the same success when I tried to build the samples file.

which protoc = /usr/bin/protoc
protoc version = libprotoc 3.6.1
Ubuntu: 16.04
ROS: Kinetic

See output below.

Any ideas on how to resolve: undefined reference to `google::protobuf::xxxxx?

CMakeFiles/abb_libegm_samples_joint_trajectory_node.dir/src/a1_joint_trajectory_node.cpp.o: In function google::protobuf::Arena::AllocHook(std::type_info const*, unsigned long) const': a1_joint_trajectory_node.cpp:(.text._ZNK6google8protobuf5Arena9AllocHookEPKSt9type_infom[_ZNK6google8protobuf5Arena9AllocHookEPKSt9type_infom]+0x3d): undefined reference to google::protobuf::Arena::OnArenaAllocation(std::type_info const*, unsigned long) const'
CMakeFiles/abb_libegm_samples_joint_trajectory_node.dir/src/a1_joint_trajectory_node.cpp.o: In function google::protobuf::RepeatedField<double>::Reserve(int)': a1_joint_trajectory_node.cpp:(.text._ZN6google8protobuf13RepeatedFieldIdE7ReserveEi[_ZN6google8protobuf13RepeatedFieldIdE7ReserveEi]+0x359): undefined reference to google::protobuf::internal::ArenaImpl::AllocateAligned(unsigned long)'
/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::internal::ArenaImpl::AllocateAlignedAndAddCleanup(unsigned long, void (*)(void*))' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::io::CodedInputStream::DecrementRecursionDepthAndPopLimit(int)'
/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::internal::AssignDescriptors(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, google::protobuf::internal::MigrationSchema const*, google::protobuf::Message const* const*, unsigned int const*, google::protobuf::Metadata*, google::protobuf::EnumDescriptor const**, google::protobuf::ServiceDescriptor const**)' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::io::CodedInputStream::ReadVarint64Fallback()'
/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::UnknownFieldSet::default_instance()' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::io::CodedInputStream::IncrementRecursionDepthAndPushLimit(int)'
/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::internal::DestroyMessage(void const*)' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::io::CodedInputStream::ReadVarint32Fallback(unsigned int)'
/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::internal::InitSCCImpl(google::protobuf::internal::SCCInfoBase*)' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::internal::RegisterAllTypes(google::protobuf::Metadata const*, int)'
/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::Message::SpaceUsedLong() const' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::io::CodedInputStream::SkipFallback(int, int)'
/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm//libhome//libabb_libegm.soejbkdb:/ sandingundefined/ catkin_wsreference/ develto/ .privategoogle/:abb_libegm:/protobuflib:/:libabb_libegm.soio:: :undefinedCodedInputStream :reference: ReadVarintSizeAsIntFallbackto( )'google
:/:homeprotobuf/:ejbkdb:/internalsanding:/:catkin_wsArenaImpl/:devel:/AllocateAlignedAndAddCleanup.(privateunsigned/ abb_libegmlong/,lib /voidlibabb_libegm.so :( *undefined) (referencevoid *to) )'google :/:homeprotobuf/:ejbkdb:/iosanding:/:catkin_wsCodedInputStream/:devel:/ReadTagFallback.(privateunsigned/ abb_libegmint/)lib'/ libabb_libegm.so/:home /undefinedejbkdb /referencesanding /tocatkin_ws /develgoogle/:.:privateprotobuf/:abb_libegm:/iolib:/:libabb_libegm.soCodedInputStream:: :undefinedDecrementRecursionDepthAndPopLimit (referenceint )to'
/googlehome:/:ejbkdbprotobuf/:sanding:/internalcatkin_ws:/:develOnShutdownRun/(.voidprivate /(abb_libegm*/)lib(/voidlibabb_libegm.so :const *undefined) ,reference voidto constgoogle):':
protobuf/:home:/internalejbkdb:/:sandingAssignDescriptors/(catkin_wsstd/:devel:/__cxx11.:private:/basic_stringabb_libegm</charlib,/ libabb_libegm.sostd:: :undefinedchar_traits to, stdgoogle::::allocatorprotobuf<:char:>internal :>: RepeatedPtrFieldBaseconst:&:,InternalExtend (googleint:):'protobuf ::internal::MigrationSchema const*, google::protobuf::Message collect2: error: ld returned 1 exit status const* const*, unsigned int const*, google::protobuf::Metadata*, google::protobuf::EnumDescriptor const**, google::protobuf::ServiceDescriptor const**)' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::io::CodedInputStream::ReadVarint64Fallback()'
/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::UnknownFieldSet::default_instance()' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::io::CodedInputStream::IncrementRecursionDepthAndPushLimit(int)'
/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::internal::DestroyMessage(void const*)' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::io::CodedInputStream::ReadVarint32Fallback(unsigned int)'
/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::internal::InitSCCImpl(google::protobuf::internal::SCCInfoBase*)' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::internal::RegisterAllTypes(google::protobuf::Metadata const, int)'
/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::Message::SpaceUsedLong() const' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::io::CodedInputStream::SkipFallback(int, int)'
/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::Arena::OnArenaAllocation(std::type_info const*, unsigned long) const' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::internal::ArenaImpl::AllocateAligned(unsigned long)'
/make[2]: *** [/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm_samples/lib/abb_libegm_samples/a1_joint_trajectory_node] Error 1
home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::io::CodedInputStream::ReadVarintSizeAsIntFallback()' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::io::CodedInputStream::ReadTagFallback(unsigned int)'
/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/make[1]: *** [CMakeFiles/abb_libegm_samples_joint_trajectory_node.dir/all] Error 2
libabb_libegm.so: undefined reference to google::protobufmake[1]: *** Waiting for unfinished jobs.... ::internal::OnShutdownRun(void (*)(void const*), void const*)' /home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm/lib/libabb_libegm.so: undefined reference to google::protobuf::internal::RepeatedPtrFieldBase::InternalExtend(int)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/ejbkdb/sanding/catkin_ws/devel/.private/abb_libegm_samples/lib/abb_libegm_samples/a2_pose_trajectory_node] Error 1
make[1]: *** [CMakeFiles/abb_libegm_samples_pose_trajectory_node.dir/all] Error 2
make: *** [all] Error 2
cd /home/ejbkdb/sanding/catkin_ws/build/abb_libegm_samples; catkin build --get-env abb_libegm_samples | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -

[ejbkdb]

I reinstalled ubuntu, ros, ros-industrial, abb stack, abb_libegm, and protoc, and was successfully able to build the library. Maybe I had a protoc conflict???

[jontje]

Great that you solved the issue.

Maybe I had a protoc conflict???

That was my initial thought when I read your issue. It's best to have the same version of libprotobuf and the protoc compiler.

[gavanderhoorn]

If you're using Ubuntu, I'd recommend installing the protobuf-compiler package. That will correspond to whichever version of libprotobuf you have installed on your system and should avoid the issues reported in the OP.

Downloading binaries from Google's site is nice, but seeing as there is a relatively tight dependency between compiler and library, not always a good idea.

[dyumanaditya]

When I try to build abb_libegm and abb_libegm_samples, (using catkin_make_isolated on Windows) which are both in the same catkin_ws, I get the following error:
abb_libegm seems to build without error.

==> Processing catkin package: 'abb_libegm_samples'
==> Creating build directory: 'build_isolated\abb_libegm_samples'
==> Building with env: 'C:\Users\Dyuman\catkin_ws1\devel_isolated\abb_libegm\env.bat'
==> cmake C:\Users\Dyuman\catkin_ws1\src\abb_libegm_samples -DCATKIN_DEVEL_PREFIX=C:\Users\Dyuman\catkin_ws1\devel_isolated\abb_libegm_samples -DCMAKE_INSTALL_PREFIX=C:\Users\Dyuman\catkin_ws1\install_isolated -DCMAKE_BUILD_TYPE=RelWithDebInfo -G Ninja in 'C:\Users\Dyuman\catkin_ws1\build_isolated\abb_libegm_samples'
-- The C compiler identification is MSVC 19.28.29337.0
-- The CXX compiler identification is MSVC 19.28.29337.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.28.29333/bin/Hostx64/x64/cl.exe - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.28.29333/bin/Hostx64/x64/cl.exe - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: C:/Users/Dyuman/catkin_ws1/devel_isolated/abb_libegm_samples
-- Using CMAKE_PREFIX_PATH: C:/Users/Dyuman/catkin_ws1/devel_isolated/abb_libegm;C:\opt\ros\noetic\x64\tools\vcpkg\installed\x64-windows;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_rws_state_publisher;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_rws_service_provider;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_egm_state_controller;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_egm_hardware_interface;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_robot_cpp_utilities;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_robot_msgs;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_robot_bringup_examples;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_rapid_sm_addin_msgs;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_rapid_msgs;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_egm_msgs;c:\opt\ros\noetic\x64;C:/Users/Dyuman/catkin_ws1/devel_isolated/abb_libegm;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_egm_rws_managers;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_librws;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_libegm
-- This workspace overlays: C:/Users/Dyuman/catkin_ws/devel_isolated/abb_rws_state_publisher;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_rws_service_provider;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_egm_state_controller;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_egm_hardware_interface;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_robot_cpp_utilities;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_robot_msgs;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_robot_bringup_examples;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_rapid_sm_addin_msgs;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_rapid_msgs;C:/Users/Dyuman/catkin_ws/devel_isolated/abb_egm_msgs;c:/opt/ros/noetic/x64
-- Found PythonInterp: C:/opt/ros/noetic/x64/python.exe (found suitable version "3.8.3", minimum required is "3")
-- Using PYTHON_EXECUTABLE: C:/opt/ros/noetic/x64/python.exe
-- Using default Python package layout
-- Found PY_em: C:\opt\ros\noetic\x64\lib\site-packages\em.py
-- Using empy: C:/opt/ros/noetic/x64/lib/site-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: C:/Users/Dyuman/catkin_ws1/build_isolated/abb_libegm_samples/test_results
-- Found gtest: gtests will be built
-- Using Python nosetests: C:/opt/ros/noetic/x64/Scripts/nosetests.exe
-- catkin 0.8.9
-- BUILD_SHARED_LIBS is on
-- Could NOT find abb_libegm (missing: abb_libegm_DIR)
-- Could not find the required component 'abb_libegm'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at C:/opt/ros/noetic/x64/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "abb_libegm" with
  any of the following names:

    abb_libegmConfig.cmake
    abb_libegm-config.cmake

  Add the installation prefix of "abb_libegm" to CMAKE_PREFIX_PATH or set
  "abb_libegm_DIR" to a directory containing one of the above files.  If
  "abb_libegm" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  CMakeLists.txt:4 (find_package)


-- Configuring incomplete, errors occurred!
See also "C:/Users/Dyuman/catkin_ws1/build_isolated/abb_libegm_samples/CMakeFiles/CMakeOutput.log".
See also "C:/Users/Dyuman/catkin_ws1/build_isolated/abb_libegm_samples/CMakeFiles/CMakeError.log".
<== Failed to process package 'abb_libegm_samples':
  Command '['C:\\Users\\Dyuman\\catkin_ws1\\devel_isolated\\abb_libegm\\env.bat', 'cmake', 'C:\\Users\\Dyuman\\catkin_ws1\\src\\abb_libegm_samples', '-DCATKIN_DEVEL_PREFIX=C:\\Users\\Dyuman\\catkin_ws1\\devel_isolated\\abb_libegm_samples', '-DCMAKE_INSTALL_PREFIX=C:\\Users\\Dyuman\\catkin_ws1\\install_isolated', '-DCMAKE_BUILD_TYPE=RelWithDebInfo', '-G', 'Ninja']' returned non-zero exit status 1.

Reproduce this error by running:
==> cd 'C:\Users\Dyuman\catkin_ws1\build_isolated\abb_libegm_samples' && 'C:\Users\Dyuman\catkin_ws1\devel_isolated\abb_libegm\env.bat' cmake 'C:\Users\Dyuman\catkin_ws1\src\abb_libegm_samples' '-DCATKIN_DEVEL_PREFIX=C:\Users\Dyuman\catkin_ws1\devel_isolated\abb_libegm_samples' '-DCMAKE_INSTALL_PREFIX=C:\Users\Dyuman\catkin_ws1\install_isolated' -DCMAKE_BUILD_TYPE=RelWithDebInfo -G Ninja

Command failed, exiting.