Re: [Playerstage-users] Player/Stage on Mac OS X 10.6 Snow Leopard in 64-bit

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Thanks for all the help,

I added

export
DYLD_LIBRARY_PATH=/System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ImageIO.framework/Versions/A/Resources:/swl/lib

to my .profile and now I can run stage from player as a plugin. I'm running
fink with player stage in 64-bit as described in my first post, only without
gearbox.

However I cannot run plugin drivers of my own. For example, I made a
Roomba500 plugin driver, when I compile it and try to run it I get the
following:

Cabritas-MacBook:Roomba cabrita$ player roomba.cfg
Registering driver
Player v.3.1.0-svn

* Part of the Player/Stage/Gazebo Project
[http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2009 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public
License.
* Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.

error   : Failed to load plugin ./Roomba500/xcode/Debug/libRoomba500.dylib.
error   : libtool reports error: file not found
error   : plugin search path:
/Users/cabrita/Dropbox/playground/Roomba:.:/sw/lib/
error   : failed to load plugin: ./Roomba500/xcode/Debug/libRoomba500.dylib
error   : failed to parse config file roomba.cfg driver blocks
Cabritas-MacBook:Roomba cabrita$ otool -L
./Roomba500/xcode/Debug/libRoomba500.dylib
./Roomba500/xcode/Debug/libRoomba500.dylib:
	libRoomba500.dylib (compatibility version 1.0.0, current version 1.0.0)
	/sw/lib/libplayercore.3.1.dylib (compatibility version 3.1.0, current
version 3.1.0)
	/usr/lib/libSystem.B.dylib (compatibility version 1.0.0, current version
123.0.0)
	/usr/lib/libltdl.7.dylib (compatibility version 9.0.0, current version
9.2.0)
	/sw/lib/libplayerinterface.3.1.dylib (compatibility version 3.1.0, current
version 3.1.0)
	/sw/lib/libplayercommon.3.1.dylib (compatibility version 3.1.0, current
version 3.1.0)
	/usr/lib/libstdc++.6.dylib (compatibility version 7.0.0, current version
7.9.0)
Cabritas-MacBook:Roomba cabrita$ 

I even run otool after and everything seems to be in place. I also tried
adding the path to this dylib to DYLD_LIBRARY_PATH but it doesn't work. This
plugin driver has already been tested on linux and it is working. I've also
tried different approaches of installing player/stage on Mac OS X, most work
just fine, wether they are 32bit, 64bit, using fink, macports, but I always
have this problem with plugin drivers. I'm using Mac OS X libtool when
building player and stage, could the problem be related to libtool?

Gonçalo Cabrita
ISR - University of Coimbra

Anthony Cascone-2 wrote:
> 
> I too had this problem for a while. The answer for me was to
> set DYLD_LIBRARY_PATH, but I needed more than just the install path for
> stage. If I set DYLD_LIBRARY_PATH=/opt/local/lib for example, running
> stage
> would yield:
> 
> $ export DYLD_LIBRARY_PATH=/opt/local/lib
> $ stage
> dyld: Symbol not found: __cg_jpeg_resync_to_restart
>   Referenced from:
> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ImageIO.framework/Versions/A/ImageIO
>   Expected in: /opt/local/lib/libJPEG.dylib
>  in
> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ImageIO.framework/Versions/A/ImageIO
> Trace/BPT trap
> 
> So I added that to the library path too.
> 
> $ export
> DYLD_LIBRARY_PATH=/System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ImageIO.framework/Versions/A/Resources:/opt/local/lib
> $ stage
> Stage 3.2.2
> 
> [Stage: done]
> 
> This also fixed my problem when trying to load player. Without setting the
> path I'd get:
> 
> $ player simple.cfg
> Registering driver
> Player v.3.0.1
> 
> * Part of the Player/Stage/Gazebo Project [
> http://playerstage.sourceforge.net].
> * Copyright (C) 2000 - 2009 Brian Gerkey, Richard Vaughan, Andrew Howard,
> * Nate Koenig, and contributors. Released under the GNU General Public
> License.
> * Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and
> you
> * are welcome to redistribute it under certain conditions; see COPYING
> * for details.
> 
> error   : Failed to load plugin stageplugin.
> error   : libtool reports error: file not found
> error   : plugin search path:
> /Users/acascone/src/Stage-3.2.2-Source/worlds:.:/opt/local/lib/
> error   : failed to load plugin: stageplugin
> error   : failed to parse config file simple.cfg driver blocks
> 
> But setting the path as above
> to
> DYLD_LIBRARY_PATH=/System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ImageIO.framework/Versions/A/Resources:/opt/local/lib
> allows me to run player with the stage plugin. For what it's worth, I
> thought I'd share my troubles. Otherwise, I am running player and stage on
> x86_64 without boost at the moment. I was going to try and compile 1.35 as
> was suggest on another thread. Perhaps 1.42 from macports is too new. PS:
> should work for the 32bit build as well.
> 
> On a side note, I'm running gcc version 4.2.1. Xcode 3.1 I think, I'm not
> in
> front of it at the moment. There may be some differences in the linker
> with
> that version of Xcode?
> 
> Anthony Cascone
> 
> 2010/3/23 Gonçalo Cabrita <gon...@gm...>
> 
>>
>> What cmake is finding is the fltk that I installed as you instructed,
>> only
>> in
>> /opt/local, was that a mistake?
>>
>> You can see that here...
>> port list installed
>> cmake                          @2.8.0          devel/cmake
>> expat                          @2.0.1          textproc/expat
>> gettext                        @0.17           devel/gettext
>> gperf                          @3.0.4          devel/gperf
>> libiconv                       @1.13.1         textproc/libiconv
>> libidn                         @1.16           mail/libidn
>> libpng                         @1.2.42         graphics/libpng
>> ncurses                        @5.7            devel/ncurses
>> ncursesw                       @5.7            devel/ncursesw
>> openssl                        @0.9.8m         devel/openssl
>> pkgconfig                      @0.23           devel/pkgconfig
>> zlib                           @1.2.4          archivers/zlib
>>
>> I only installed cmake, pkgconfig and libpng with macports.
>>
>> Player on the other hand is running, but it doesn't run plugin drivers.
>>
>> Gonçalo Cabrita
>> ISR - University of Coimbra
>>
>>
>> Serge Stinckwich-2 wrote:
>> >
>> > 2010/3/22 Gonçalo Cabrita <gon...@gm...>:
>> >>
>> >> I followed your tutorial but I get this error concerning fltk while
>> >> trying to
>> >> build stage...
>> >>
>> >> Linking CXX shared library libstage.dylib
>> >> ld: warning: in /opt/local/lib/libz.dylib, file is not of required
>> >> architecture
>> >> Undefined symbols:
>> >>  "_deflate", referenced from:
>> >>      _png_write_flush in libfltk_png.a(pngwrite.o)
>> >>      _png_write_finish_row in libfltk_png.a(pngwutil.o)
>> >>      _png_write_filtered_row in libfltk_png.a(pngwutil.o)
>> >>      _png_text_compress in libfltk_png.a(pngwutil.o)
>> >>      _png_text_compress in libfltk_png.a(pngwutil.o)
>> >>  "_deflateEnd", referenced from:
>> >>      _png_write_destroy in libfltk_png.a(pngwrite.o)
>> >>  "_crc32", referenced from:
>> >>      _png_calculate_crc in libfltk_png.a(png.o)
>> >>      _png_reset_crc in libfltk_png.a(png.o)
>> >>  "_deflateReset", referenced from:
>> >>      _png_write_compressed_data_out in libfltk_png.a(pngwutil.o)
>> >>      _png_write_finish_row in libfltk_png.a(pngwutil.o)
>> >>  "_inflateReset", referenced from:
>> >>      _png_reset_zstream in libfltk_png.a(png.o)
>> >>      _png_read_finish_row in libfltk_png.a(pngrutil.o)
>> >>      _png_decompress_chunk in libfltk_png.a(pngrutil.o)
>> >>      _png_decompress_chunk in libfltk_png.a(pngrutil.o)
>> >>  "_inflateEnd", referenced from:
>> >>      _png_read_destroy in libfltk_png.a(pngread.o)
>> >>  "_inflate", referenced from:
>> >>      _png_read_row in libfltk_png.a(pngread.o)
>> >>      _png_read_finish_row in libfltk_png.a(pngrutil.o)
>> >>      _png_decompress_chunk in libfltk_png.a(pngrutil.o)
>> >>  "_inflateInit_", referenced from:
>> >>      _png_create_read_struct_2 in libfltk_png.a(pngread.o)
>> >>      _png_read_init_3 in libfltk_png.a(pngread.o)
>> >>  "_deflateInit2_", referenced from:
>> >>      _png_write_IHDR in libfltk_png.a(pngwutil.o)
>> >> ld: symbol(s) not found
>> >> collect2: ld returned 1 exit status
>> >> lipo: can't open input file:
>> >> /var/folders/WL/WLj02hEDFOiv9z5IlzLe0U+++TI/-Tmp-//ccODPrEA.out (No
>> such
>> >> file or directory)
>> >> make[2]: *** [libstage/libstage.3.2.2.dylib] Error 1
>> >> make[1]: *** [libstage/CMakeFiles/stage.dir/all] Error 2
>> >> make: *** [all] Error 2
>> >
>> >
>> > It looks like, Stage is using fltk from macport. Could you remove fltk
>> > from macport with:
>> >
>> > sudo port uninstall fltk
>> > sudo port clean fltk
>> >
>> >
>> >> Also a minor bug in your tutorial, under the Test your P/S
>> installation
>> >> section, you're missing the $ before INSTALL_DIR on export
>> >> PATH=INSTALL_DIR/bin:$PATH
>> >
>> >
>> > Ok, thank you. I made the modification.
>> >
>> > Best regards,
>> > --
>> > Serge Stinckwich
>> > UMI UMMISCO 209 (IRD/UPMC), Hanoi, Vietnam
>> > Smalltalkers do: [:it | All with: Class, (And love: it)]
>> > http://doesnotunderstand.org/
>> >
>> >
>> ------------------------------------------------------------------------------
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>> > Try the new software tools for yourself. Speed compiling, find bugs
>> > proactively, and fine-tune applications for parallel performance.
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>> > _______________________________________________
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>> > Pla...@li...
>> > https://lists.sourceforge.net/lists/listinfo/playerstage-users
>> >
>> >
>>
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>>
>>
>>
>> ------------------------------------------------------------------------------
>> Download Intel&#174; Parallel Studio Eval
>> Try the new software tools for yourself. Speed compiling, find bugs
>> proactively, and fine-tune applications for parallel performance.
>> See why Intel Parallel Studio got high marks during beta.
>> http://p.sf.net/sfu/intel-sw-dev
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>>
> 
> 
> 
> -- 
> The Pennsylvania State University
> Mechanical Engineering
> 104 Engineering Unit C
> Office: 814.865.6188
> Email: aj...@ps...
> 
> ------------------------------------------------------------------------------
> Download Intel&#174; Parallel Studio Eval
> Try the new software tools for yourself. Speed compiling, find bugs
> proactively, and fine-tune applications for parallel performance.
> See why Intel Parallel Studio got high marks during beta.
> http://p.sf.net/sfu/intel-sw-dev
> _______________________________________________
> Playerstage-users mailing list
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> https://lists.sourceforge.net/lists/listinfo/playerstage-users
> 
> 

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