[Orca-robotics-users] Compilation problems on OS X

[Richard R. <ri...@cc...>]

Hi guys,

There seem to be some compilation problems with Orca 2.3.0 on OS X,  
with Ice 3.2.0, and cmake 2.4.6.

__No 1:__

When linking libOrcaIce, there are some undefined symbols:

Linking CXX shared library libOrcaIce.dylib
ld: Undefined symbols:
__ZN7orcaice14toHomeIdentityERKN4orca15FQComponentNameE
__ZN7orcaice15toInterfaceNameERKSs
__ZN7orcaice8toStringERKN4orca11FQTopicNameE
__ZN7orcaice8toStringERKN4orca15FQInterfaceNameE
__ZN7orcaice16timeDiffAsDoubleERKN4orca4TimeES3_
__ZN7orcaice6getNowEv
__ZN7orcaice11toStringSeqERKSsc
__ZN7orcaice14toTimeDurationERKSsRN4orca4TimeE
__ZN7orcaice16toCartesianPointERKSsRN4orca14CartesianPointE
__ZN7orcaice8toSize2dERKSsRN4orca6Size2dE
__ZN7orcaice8toSize3dERKSsRN4orca6Size3dE
__ZN7orcaice9toFrame2dERKSsRN4orca7Frame2dE
__ZN7orcaice9toFrame3dERKSsRN4orca7Frame3dE
__ZN8Glacier228CannotCreateSessionExceptionD1Ev
__ZTVN8Glacier228CannotCreateSessionExceptionE
__ZN7orcaice8setToNowERN4orca4TimeE
__ZN7orcaice8toStringERKN4orca15FQComponentNameE
__ZN7orcaice15toComponentNameERKSs
__ZN7orcaice13toStatusTopicERKN4orca15FQComponentNameE
__ZN7orcaice13toTracerTopicERKN4orca15FQComponentNameE
__ZN7orcaice8toStringERKN4orca10TracerDataE
/usr/bin/libtool: internal link edit command failed

These symbols are found in orcaobj/stringutils.cpp (in Orca), and in  
libGlacier2 (in Ice).  I was able to get it to compile by manually  
building orcaobj before orceice, and adding -lOrcaObjects and - 
lGlacier2 to orcaice/...../link.txt.  I don't know how to modify  
cmake builds, so I don't have a patch for you.

__No 2:......__

Many more cases of undefined symbols, including needing to link to:   
player libs, other orca libs, libGlacier2

Most of the time, it's other orca libs that need to be linked in, but  
they are not in the library search path, I have to add the path for  
each one manually.

__No 3:__

unsetenv returns void on OS X, so the #ifdef __QNX__ lines in orcaice/ 
test/propfiletest.cpp should also include OSX (not sure what symbol  
would be defined for OSX)

__No 4:__

isnan not defined in orcapathplan/pathplanutils.h
Fix:  added int isnan(double x);   For some reason, #include <math.h>  
didn't fix this (some other header messing up inclusion of this?)

__No 5:__

In src/libs/orcaqgui2d/paintutils.{h,cpp}, move the constant  
definitions of _historyMinDistance, _historyMaxDistance, and  
_historyMaxLength from the .h file to the .cpp.  Having the = part in  
the .h can cause problems when the .h is included more than once in  
the same link target.  (I'm getting an undefined symbol  
__ZN10orcaqgui2d11PoseHistory19_historyMaxDistanceE because of this)


I assume these are OS X problem only.  I haven't been able to try it  
out on Linux yet, but I assume it works there.  Any idea what would  
cause the problem?  I am using one cmake version tick later than it  
says orca was tested with, could this make the difference?  It  
doesn't seem like it.

Please let me know if I can send any more information, such as cmake- 
generated files, etc, that would help you.

Thanks,
Richard Roberts