pinocchio3-preview undefined reference when compiling

[giulioturrisi]

Hi all,

I was trying to compile pinocchio3-preview from source. I'm using a docker image with ubuntu 22.04 (where I use a recently forked repo of Pinocchio to modify only the eigenpy version - from 2.7.0 to 2.9.2). I installed casadi 3.6.3 and libbost 1.74.0.3ubuntu7, and activated the casadi support during cmake.

During compilation, around 85%, I get the following error:

/usr/bin/ld: CMakeFiles/test-cpp-casadi-basic.dir/basic.cpp.o: in function `boost::unit_test::make_test_case(boost::function<void ()> const&, boost::unit_test::basic_cstring<char const>, boost::unit_test::basic_cstring<char const>, unsigned long) [clone .isra.0]':
basic.cpp:(.text.startup+0x41): undefined reference to `boost::unit_test::ut_detail::normalize_test_case_name(boost::unit_test::basic_cstring<char const>)'
collect2: error: ld returned 1 exit status

Do you know if there is some incompatibility between the version of boost and casadi that I'm using? Or if this problem could be related to something else.

Docker image

The docker image file can be found here:

https://github.com/giulioturrisi/Flywheel-Pendulum-Robot/blob/main/docker_files/integrated_gpu/dockerfile

To reproduce the error, you just need to build it, and automatically Pinocchio will be compiled.

System

• Ubuntu 22.04
• Pinocchio version: pinocchio3-preview

Thank you in advance!

[nim65s]

Hi,

Thanks for the report.

At first glance, I'd say this is because:

1. you used pip install casadi
2. this resolve to casadi-3.6.3-cp310-none-manylinux2014_x86_64.whl
3. which was compiled on the manylinux2014 distribution
4. which is derivated from CentOS 7
5. which by default compile packages for the old c++ ABI
6. while you are on a ubuntu jammy
7. where packages are by default compiled for the new c++11 ABI.

Therefore, std::string signature is not the same between your different binaries.

Possible workarounds (choose one):

1. install robotpkg-casadi, as you already have robotpkg, and robotpkg binaries are compiled with the correct compiler for each distribution
2. compile casadi yourself to get everything with -D_GLIBCXX_USE_CXX11_ABI=1 (the default on your new system)
3. keep casadi, and compile everything else using -D_GLIBCXX_USE_CXX11_ABI=0 (this mean you can't have robotpkg binaries anymore)
4. directly ask for a working dockerfile and provide the list of package you want
5. switch to conda (but I won't be helpful on this path for now, and I'm not even sure it has all the packages you need)

[nim65s]

Long term solution: improve casadi wheels. I already spent a huge week of this, this is way from done.

[giulioturrisi]

Problem solved following your suggestion.

Thank you!