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Trouble installing on Mac OS X 10.9.5

Caelan
Hello,

I'm having trouble installing OpenRAVE on my Mac. I followed the instructions listed here:
http://robotics.naist.jp/~akihiko-y/doxy/openrave2011-08-04/installation_macosx.html

I got as far as running make in openrave, but I got the following error:

Linking CXX executable check_libm_accuracy
Undefined symbols for architecture x86_64:
  "__FPU_SETCW", referenced from:
      _crlibm_exit in libcrlibm.a(crlibm_private.c.o)
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[3]: *** [src/check_libm_accuracy] Error 1
make[2]: *** [src/CMakeFiles/check_libm_accuracy.dir/all] Error 2
make[1]: *** [all] Error 2
make: *** [all] Error 2

I'm not experienced at debugging these kinds of things, and I was wondering if anyone had any suggestions on what to try.

Thanks!
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Re: Trouble installing on Mac OS X 10.9.5

Michael Koval
I also had this problem. If I remember correctly, this is a problem with using libcrm with clang (instead of GCC) and is not Mac specific. I was able to work around the issue by removing the check for libcrm from "src/CMakeLists.txt". Since libcrm is an optional dependency, everything builds fine once it is removed.

-Michael

On Thu, Oct 30, 2014 at 8:59 PM, Caelan Garrett <[hidden email]> wrote:
Hello,

I'm having trouble installing OpenRAVE on my Mac. I followed the
instructions listed here:
http://robotics.naist.jp/~akihiko-y/doxy/openrave2011-08-04/installation_macosx.html

I got as far as running make in openrave, but I got the following error:

Linking CXX executable check_libm_accuracy
Undefined symbols for architecture x86_64:
  "__FPU_SETCW", referenced from:
      _crlibm_exit in libcrlibm.a(crlibm_private.c.o)
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see
invocation)
make[3]: *** [src/check_libm_accuracy] Error 1
make[2]: *** [src/CMakeFiles/check_libm_accuracy.dir/all] Error 2
make[1]: *** [all] Error 2
make: *** [all] Error 2

I'm not experienced at debugging these kinds of things, and I was wondering
if anyone had any suggestions on what to try.

Thanks!



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Re: Trouble installing on Mac OS X 10.9.5

Caelan
Thanks Michael. My compilation made a fair amount of progress, but now it crashes when building the python libraries. It looks like I have a linkage problem, but it was able to find boost. Has anyone seen this before?

[ 83%] Built target libopenrave-core_c
Linking CXX shared library convexdecompositionpy.so
Undefined symbols for architecture x86_64:
  "boost::assertion_failed_msg(char const*, char const*, char const*, char const*, long)", referenced from:
      void boost::detail::multi_array::multi_array_impl_base<int, 2ul>::compute_strides<boost::array<long, 2ul>, boost::array<unsigned long, 2ul> >(boost::array<long, 2ul>&, boost::array<unsigned long, 2ul>&, boost::general_storage_order<2ul> const&) in bindings.cpp.o
      void boost::const_multi_array_ref<int, 1ul, int*>::init_multi_array_ref<std::__1::__wrap_iter<unsigned long const*> >(std::__1::__wrap_iter<unsigned long const*>) in bindings.cpp.o
      void boost::detail::multi_array::multi_array_impl_base<int, 1ul>::compute_strides<boost::array<long, 1ul>, boost::array<unsigned long, 1ul> >(boost::array<long, 1ul>&, boost::array<unsigned long, 1ul>&, boost::general_storage_order<1ul> const&) in bindings.cpp.o
      void boost::detail::multi_array::multi_array_impl_base<double, 3ul>::compute_strides<boost::array<long, 3ul>, boost::array<unsigned long, 3ul> >(boost::array<long, 3ul>&, boost::array<unsigned long, 3ul>&, boost::general_storage_order<3ul> const&) in bindings.cpp.o
      void boost::detail::multi_array::multi_array_impl_base<double, 2ul>::compute_strides<boost::array<long, 2ul>, boost::array<unsigned long, 2ul> >(boost::array<long, 2ul>&, boost::array<unsigned long, 2ul>&, boost::general_storage_order<2ul> const&) in bindings.cpp.o
      void boost::const_multi_array_ref<double, 1ul, double*>::init_multi_array_ref<std::__1::__wrap_iter<unsigned long const*> >(std::__1::__wrap_iter<unsigned long const*>) in bindings.cpp.o
      void boost::detail::multi_array::multi_array_impl_base<double, 1ul>::compute_strides<boost::array<long, 1ul>, boost::array<unsigned long, 1ul> >(boost::array<long, 1ul>&, boost::array<unsigned long, 1ul>&, boost::general_storage_order<1ul> const&) in bindings.cpp.o
      ...
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[3]: *** [python/bindings/convexdecompositionpy.so] Error 1
make[2]: *** [python/bindings/CMakeFiles/convexdecompositionpy.dir/all] Error 2
make[1]: *** [all] Error 2
make: *** [all] Error 2
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Re: Trouble installing on Mac OS X 10.9.5

Bahram Maleki-Fard
Seen something similar before. I assume you're on the "latest_stable"
branch? Try the "master" branch, it's a lot more up-to-date and contains
quite a lot of fixes, including some relating to this error.

Cheers,
Bahram

2014/11/01 20:15 , Caelan <[hidden email]>:

> Thanks Michael. My compilation made a fair amount of progress, but now it
> crashes when building the python libraries. It looks like I have a linkage
> problem, but it was able to find boost. Has anyone seen this before?
>
> [ 83%] Built target libopenrave-core_c
> Linking CXX shared library convexdecompositionpy.so
> Undefined symbols for architecture x86_64:
>    "boost::assertion_failed_msg(char const*, char const*, char const*, char
> const*, long)", referenced from:
>        void boost::detail::multi_array::multi_array_impl_base<int,
> 2ul>::compute_strides<boost::array&lt;long, 2ul>, boost::array<unsigned
> long, 2ul> >(boost::array<long, 2ul>&, boost::array<unsigned long, 2ul>&,
> boost::general_storage_order<2ul> const&) in bindings.cpp.o
>        void boost::const_multi_array_ref<int, 1ul,
> int*>::init_multi_array_ref<std::__1::__wrap_iter&lt;unsigned long const*>
>> (std::__1::__wrap_iter<unsigned long const*>) in bindings.cpp.o
>        void boost::detail::multi_array::multi_array_impl_base<int,
> 1ul>::compute_strides<boost::array&lt;long, 1ul>, boost::array<unsigned
> long, 1ul> >(boost::array<long, 1ul>&, boost::array<unsigned long, 1ul>&,
> boost::general_storage_order<1ul> const&) in bindings.cpp.o
>        void boost::detail::multi_array::multi_array_impl_base<double,
> 3ul>::compute_strides<boost::array&lt;long, 3ul>, boost::array<unsigned
> long, 3ul> >(boost::array<long, 3ul>&, boost::array<unsigned long, 3ul>&,
> boost::general_storage_order<3ul> const&) in bindings.cpp.o
>        void boost::detail::multi_array::multi_array_impl_base<double,
> 2ul>::compute_strides<boost::array&lt;long, 2ul>, boost::array<unsigned
> long, 2ul> >(boost::array<long, 2ul>&, boost::array<unsigned long, 2ul>&,
> boost::general_storage_order<2ul> const&) in bindings.cpp.o
>        void boost::const_multi_array_ref<double, 1ul,
> double*>::init_multi_array_ref<std::__1::__wrap_iter&lt;unsigned long
> const*> >(std::__1::__wrap_iter<unsigned long const*>) in bindings.cpp.o
>        void boost::detail::multi_array::multi_array_impl_base<double,
> 1ul>::compute_strides<boost::array&lt;long, 1ul>, boost::array<unsigned
> long, 1ul> >(boost::array<long, 1ul>&, boost::array<unsigned long, 1ul>&,
> boost::general_storage_order<1ul> const&) in bindings.cpp.o
>        ...
> ld: symbol(s) not found for architecture x86_64
> clang: error: linker command failed with exit code 1 (use -v to see
> invocation)
> make[3]: *** [python/bindings/convexdecompositionpy.so] Error 1
> make[2]: *** [python/bindings/CMakeFiles/convexdecompositionpy.dir/all]
> Error 2
> make[1]: *** [all] Error 2
> make: *** [all] Error 2
>
>
>
> --
> View this message in context: http://openrave-users-list.185357.n3.nabble.com/Trouble-installing-on-Mac-OS-X-10-9-5-tp4027138p4027141.html
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Re: Trouble installing on Mac OS X 10.9.5

Caelan
Okay, I built from master, and it compiled! Thanks Bahram!

I still have one more error unfortunately. Although running openrave works fine, running openrave.py causes a segmentation fault. It looks like something wrong with my build of openravepy_int.so.

When I run python -v /usr/local/bin/openrave.py, I get the following seg fault:
import openravepy._openravepy_0_9 # precompiled from /usr/local/lib/python2.7/site-packages/openravepy/_openravepy_0_9/__init__.pyc
dlopen("/usr/local/lib/python2.7/site-packages/openravepy/_openravepy_0_9/openravepy_int.so", 2);
Segmentation fault: 11

My problem seems to be similar to some of the problems on this thread:
http://openrave-users-list.185357.n3.nabble.com/Running-Open-RAVE-Production-branch-on-OS-X-td4026936.html#a4026937 

When I run sudo ggdb --args python -c "import openravepy", I get:
Program received signal SIGTRAP, Trace/breakpoint trap.
0x00007fff5fc01028 in ?? ()
(gdb) bt
#0  0x00007fff5fc01028 in ?? ()
#1  0x0000000100000000 in ?? ()
#2  0x0000000000000003 in ?? ()
#3  0x00007fff5fbffcd0 in ?? ()
#4  0x00007fff5fbffd37 in ?? ()
#5  0x00007fff5fbffd3a in ?? ()
#6  0x0000000000000000 in ?? ()
(gdb)

Any ideas? Thanks again everyone!
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Re: Trouble installing on Mac OS X 10.9.5

Bahram Maleki-Fard
I have no idea about that error (not running OpenRAVE on Mac), but maybe
this helps:
http://stackoverflow.com/questions/26081389/opencv-segfault-during-python-import-cv2-on-mac

Cheers,
Bahram

2014/11/02 03:47 , Caelan <[hidden email]>:

> Okay, I built from master, and it compiled! Thanks Bahram!
>
> I still have one more error unfortunately. Although running openrave works
> fine, running openrave.py causes a segmentation fault. It looks like
> something wrong with my build of openravepy_int.so.
>
> When I run python -v /usr/local/bin/openrave.py, I get the following seg
> fault:
> import openravepy._openravepy_0_9 # precompiled from
> /usr/local/lib/python2.7/site-packages/openravepy/_openravepy_0_9/__init__.pyc
> dlopen("/usr/local/lib/python2.7/site-packages/openravepy/_openravepy_0_9/openravepy_int.so",
> 2);
> Segmentation fault: 11
>
> My problem seems to be similar to some of the problems on this thread:
> http://openrave-users-list.185357.n3.nabble.com/Running-Open-RAVE-Production-branch-on-OS-X-td4026936.html#a4026937
>
> When I run sudo ggdb --args python -c "import openravepy", I get:
> Program received signal SIGTRAP, Trace/breakpoint trap.
> 0x00007fff5fc01028 in ?? ()
> (gdb) bt
> #0  0x00007fff5fc01028 in ?? ()
> #1  0x0000000100000000 in ?? ()
> #2  0x0000000000000003 in ?? ()
> #3  0x00007fff5fbffcd0 in ?? ()
> #4  0x00007fff5fbffd37 in ?? ()
> #5  0x00007fff5fbffd3a in ?? ()
> #6  0x0000000000000000 in ?? ()
> (gdb)
>
> Any ideas? Thanks again everyone!
>
>
>
> --
> View this message in context: http://openrave-users-list.185357.n3.nabble.com/Trouble-installing-on-Mac-OS-X-10-9-5-tp4027138p4027145.html
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Re: Trouble installing on Mac OS X 10.9.5

Caelan
I could try using homebrew. I'm currently using macports.

Has anyone had success installing using macports for python, qt4, etc?

Also, could it be an issue where the installation is not finding the correct version of python? I'm not sure how to check which installation it is using.
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Re: Trouble installing on Mac OS X 10.9.5

Bahram Maleki-Fard
I got curious and now I'm trying to install it on Mac (10.6 though).
What a pita...

Anyway, check which python version is used:
   $port select --show python
In case you need to change it, you can list available ports with
   $port select --list python
and set one (for example "python27" with)
   $sudo port select --set python python27

Cheers,
Bahram

2014/11/03 00:43 , Caelan <[hidden email]>:

> I could try using homebrew. I'm currently using macports.
>
> Has anyone had success installing using macports for python, qt4, etc?
>
> Also, could it be an issue where the installation is not finding the correct
> version of python? I'm not sure how to check which installation it is using.
>
>
>
> --
> View this message in context: http://openrave-users-list.185357.n3.nabble.com/Trouble-installing-on-Mac-OS-X-10-9-5-tp4027138p4027147.html
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Re: Trouble installing on Mac OS X 10.9.5

Bahram Maleki-Fard
I also just saw that you use old installation instructions. Check this:
http://www.openrave.org/docs/latest_stable/coreapihtml/installation_macosx.html

There's additional info on picking a python version, maybe that's
exactly what you need?

Cheers,
Bahram

2014/11/03 04:26 , Bahram Maleki-Fard:

> I got curious and now I'm trying to install it on Mac (10.6 though).
> What a pita...
>
> Anyway, check which python version is used:
>     $port select --show python
> In case you need to change it, you can list available ports with
>     $port select --list python
> and set one (for example "python27" with)
>     $sudo port select --set python python27
>
> Cheers,
> Bahram
>
> 2014/11/03 00:43 , Caelan <[hidden email]>:
>> I could try using homebrew. I'm currently using macports.
>>
>> Has anyone had success installing using macports for python, qt4, etc?
>>
>> Also, could it be an issue where the installation is not finding the correct
>> version of python? I'm not sure how to check which installation it is using.
>>
>>
>>
>> --
>> View this message in context: http://openrave-users-list.185357.n3.nabble.com/Trouble-installing-on-Mac-OS-X-10-9-5-tp4027138p4027147.html
>> Sent from the OpenRAVE Users List mailing list archive at Nabble.com.
>>
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Re: Trouble installing on Mac OS X 10.9.5

Caelan
I just tried this, but I had no luck. I still don't think it is finding the correct libraries though.

cmake reports the following:
-- Found PkgConfig: /opt/local/bin/pkg-config (found version "0.28")
-- Found PythonInterp: /opt/local/bin/python2.7 (found version "2.7.8")
-- Found PythonLibs: /usr/lib/libpython2.7.dylib (found suitable version "2.7.8", minimum required is "2")
-- installing to /usr/local, python exe /opt/local/bin/python2.7, python subdir is lib/python2.7/site-packages, program suffix is '0.9'

But the macports libpython2.7.dylib isn't at that path. It seems like I should force it to look here, but I'm not sure how to do that:
/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/libpython2.7.dylib

Also, the seg fault occurs when importing openravepy_int.so specifically. Additionally when I run openrave, I get the following warning:
[plugindatabase.h:929 _SysLoadLibrary] /usr/local/share/openrave-0.9/plugins/openravepy_configurationcache.dylib: dlopen(/usr/local/share/openrave-0.9/plugins/openravepy_configurationcache.dylib, 1): Library not loaded: libconfigurationcache.dylib
  Referenced from: /usr/local/share/openrave-0.9/plugins/openravepy_configurationcache.dylib
  Reason: image not found
[plugindatabase.h:857 _LoadPlugin] failed to load: /usr/local/share/openrave-0.9/plugins/openravepy_configurationcache.dylib

Thanks again for helping me Bahram! Are you having any luck with your installation?


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Re: Trouble installing on Mac OS X 10.9.5

Bahram Maleki-Fard
Hi,

glad I could help.

> -- Found PythonLibs: /usr/lib/libpython2.7.dylib (found suitable version
> "2.7.8", minimum required is "2")
>
> But the macports libpython2.7.dylib isn't at that path. It seems like I
> should force it to look here, but I'm not sure how to do that:
> /opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/libpython2.7.dylib
As stated here:
http://www.openrave.org/docs/latest_stable/coreapihtml/installation_macosx.html
   "cmake -DPYTHON_LIBRARIES:FILEPATH=/opt/local/lib/libpython2.7.dylib"
should do it. You can use "ccmake" to start cmake-gui and check/modify
PYTHON_LIBRARIES again (just a little easier than without gui).

> Additionally when I run openrave, I get the following warning:
> [plugindatabase.h:929 _SysLoadLibrary]
> /usr/local/share/openrave-0.9/plugins/openravepy_configurationcache.dylib:
> dlopen(/usr/local/share/openrave-0.9/plugins/openravepy_configurationcache.dylib,
> 1): Library not loaded: libconfigurationcache.dylib
Fix is here: https://github.com/rdiankov/openrave/issues/321
Not a crucial problem though.

> Are you having any luck with your installation?
I don't have any trouble with python, the paths are correct and I don't
get the error you have. I do have a different segfault though, Qt
related, still trying to figure out the reason.
Maybe if I don't build Coin and SoQt with "--enable-darwin-x11"...

Cheers,
Bahram


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Re: Trouble installing on Mac OS X 10.9.5

Bahram Maleki-Fard
2014/11/03 23:42 , Bahram Maleki-Fard:
>> Are you having any luck with your installation?
> I don't have any trouble with python, the paths are correct and I don't
> get the error you have. I do have a different segfault though, Qt
> related, still trying to figure out the reason.
> Maybe if I don't build Coin and SoQt with "--enable-darwin-x11"...
Need to stay corrected, I did have a wrong Python path, needed to adjust
PYTHON_INCLUDE_DIR. That did not make a difference though.
I built Coin and SoQt without "--enable-darwin-x11" now, and now it runs
fine, both "openrave" and "openrave.py".

But your problem seems to be really python-path related. I guess easiest
way would be to use ccmake to be able to easily check, and change each
entry to "/opt/local/..."

Cheers,
Bahram


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Re: Trouble installing on Mac OS X 10.9.5

Caelan
Okay, I fixed the problem! I used the following cmake flags. For some reason, it looks like PYTHON_LIBRARY has replaced PYTHON_LIBRARIES which was the problem.

cmake -DPYTHON_LIBRARY:PATH=/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/libpython2.7.dylib -DPYTHON_INCLUDE_DIR:FILEPATH=/opt/local/Library/Frameworks/Python.framework/Headers

Thanks Bahram!
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