Collision Checker Compile error on MacOS

Drivability Checker
1

Mac OS Catalina 10.15.3
miniconda-py3.7
Eigen3, FCL, and CCD have been installed

➜ cmake -DADD_PYTHON_BINDINGS=TRUE -DPATH_TO_PYTHON_ENVIRONMENT="/Users/mac/opt/miniconda3/envs/commonroad" -DPYTHON_VERSION="3.7" -DCMAKE_BUILD_TYPE=Release cmake  ..
-- The C compiler identification is AppleClang 11.0.0.11000033
-- The CXX compiler identification is AppleClang 11.0.0.11000033
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
--  
-- Found PythonInterp: /Users/mac/opt/miniconda3/envs/commonroad/bin/python3.7m (found version "3.7.6") 
-- Found PythonLibs: /Users/mac/opt/miniconda3/envs/commonroad/lib/libpython3.7m.so
-- Performing Test HAS_CPP14_FLAG
-- Performing Test HAS_CPP14_FLAG - Success
-- pybind11 v2.2.4
-- Performing Test HAS_FLTO
-- Performing Test HAS_FLTO - Success
-- LTO enabled
-- Found PkgConfig: /usr/local/bin/pkg-config (found version "0.29.2") 
-- Checking for module 'fcl>=0.3.1'
--   Found fcl, version 0.6.1
-- Found FCL: fcl;ccd;m  
-- Checking for module 'ccd>=2.0'
--   Found ccd, version 2.0
-- Found CCD: ccd;m  
CMake Error at cpp/CMakeLists.txt:64 (message):
  Could NOT find required library libfcl


-- Configuring incomplete, errors occurred!
See also "/Users/mac/Downloads/commonroad-collision-checker-master/build/CMakeFiles/CMakeOutput.log".

I used two macs, tried many times, and made the same mistake. Please help us~Thanks!

2

Hi Rankin,

The error says that fcl could not be found. Have you install the fcl library correctly?

$ mkdir build && cd build
$ cmake ..
$ make
$ sudo make install

can you share the message of the above commands when you install fcl? (as stated in https://gitlab.lrz.de/tum-cps/commonroad-collision-checker)

1 Like
3

And after I tried to cli your docker to test again, I found that your docker also has this problem.So I don’t know how you installed it.

4

Dear Sir,

The problem seems to be specific to your environment. Although we could not reproduce the problem on our mac machines (different MacOS version), it really seems like a simple problem of getting MacOS to find fcl.

Could you possibly replace CMakeLists.txt from cpp folder with the following content, try to run cmake -DADD_PYTHON_BINDINGS=TRUE -DPATH_TO_PYTHON_ENVIRONMENT="/path/to/your/anaconda3/envs/commonroad-py36" -DPYTHON_VERSION="3.6" -DCMAKE_BUILD_TYPE=Release .. again and post the command output on the forum? Thank you very much!

set(COLLISION_SRC_ROOT “collision/src”)

set(COLLISION_SRC
${COLLISION_SRC_ROOT}/raytrace_primitive.cc
${COLLISION_SRC_ROOT}/shape_group.cc
${COLLISION_SRC_ROOT}/collision_object.cc
${COLLISION_SRC_ROOT}/collision_checker.cc
${COLLISION_SRC_ROOT}/primitive_collision_checker.cc
${COLLISION_SRC_ROOT}/raytrace_utils.cc
${COLLISION_SRC_ROOT}/collision_object_ex.cc
${COLLISION_SRC_ROOT}/time_variant_collision_object.cc
${COLLISION_SRC_ROOT}/solvers/distance_queries.cc
${COLLISION_SRC_ROOT}/solvers/collision_queries.cc
${COLLISION_SRC_ROOT}/solvers/collision_solver_default.cc
${COLLISION_SRC_ROOT}/solvers/collision_solver_fcl.cc
${COLLISION_SRC_ROOT}/solvers/collision_solver_primitive.cc
${COLLISION_SRC_ROOT}/solvers/fcl/fcl_collision_checker.cc
${COLLISION_SRC_ROOT}/solvers/fcl/fcl_distance_queries.cc
${COLLISION_SRC_ROOT}/solvers/fcl/fcl_broadphase_manager_factories.cc
${COLLISION_SRC_ROOT}/solvers/fcl/fcl_distance_requests.cc
${COLLISION_SRC_ROOT}/solvers/fcl/fcl_collision_queries.cc
${COLLISION_SRC_ROOT}/solvers/fcl/fcl_collision_object_group.cc
${COLLISION_SRC_ROOT}/solvers/fcl/fcl_collision_requests.cc
${COLLISION_SRC_ROOT}/solvers/fcl/fcl_collision_object.cc
${COLLISION_SRC_ROOT}/solvers/fcl/fcl_entity_factory.cc
${COLLISION_SRC_ROOT}/solvers/fcl/performance_timers.cc
${COLLISION_SRC_ROOT}/solvers/fcl/solver_entity_fcl.cc
${COLLISION_SRC_ROOT}/plugins/triangulation/triangulate.cc
${COLLISION_SRC_ROOT}/serialize/serialize_rectangle_aabb.cc
${COLLISION_SRC_ROOT}/serialize/serialize_collision_checker.cc
${COLLISION_SRC_ROOT}/serialize/serialize_rectangle_obb.cc
${COLLISION_SRC_ROOT}/serialize/serialize_tv_object.cc
${COLLISION_SRC_ROOT}/serialize/serialize_point.cc
${COLLISION_SRC_ROOT}/serialize/serialize_triangle.cc
${COLLISION_SRC_ROOT}/serialize/serialize_container_cc_obj.cc
${COLLISION_SRC_ROOT}/serialize/serialize_container_obj_obj.cc
${COLLISION_SRC_ROOT}/serialize/serialize_polygon.cc
${COLLISION_SRC_ROOT}/serialize/serialize_shape_group.cc
${COLLISION_SRC_ROOT}/serialize/serialize.cc
${COLLISION_SRC_ROOT}/serialize/serialize_sphere.cc
${COLLISION_SRC_ROOT}/serialize/public/serialize_public.cc
${COLLISION_SRC_ROOT}/serialize/final/collision_object_export_final.cc
${COLLISION_SRC_ROOT}/narrowphase/polygon.cc
${COLLISION_SRC_ROOT}/narrowphase/rectangle_aabb.cc
${COLLISION_SRC_ROOT}/narrowphase/triangle.cc
${COLLISION_SRC_ROOT}/narrowphase/rectangle_obb.cc
${COLLISION_SRC_ROOT}/narrowphase/shape.cc
${COLLISION_SRC_ROOT}/narrowphase/point.cc
${COLLISION_SRC_ROOT}/narrowphase/sphere.cc
tests/collision/online_tests/broadphase_test.cc
tests/collision/online_tests/test_common.cc
)

set(LIB_CRCC_SRC ${LIB_CRCC_SRC} ${COLLISION_SRC})

find_package(fcl REQUIRED)

find_package(ccd REQUIRED)

find_library(S11N_LIBRARY s11n HINTS ${PC_LIBS11N_LIBRARIES})

message(STATUS ${FCL_LIBRARIES})

message(STATUS ${FCL_FOUND})

if(NOT fcl_FOUND AND NOT FCL_FOUND)
message(FATAL_ERROR “Could NOT find required library libfcl”)
endif()

add_library(crcc ${LIB_CRCC_SRC})

target_compile_features(crcc
PUBLIC cxx_lambdas cxx_auto_type
PRIVATE cxx_lambdas cxx_auto_type)
set_property(TARGET crcc PROPERTY POSITION_INDEPENDENT_CODE ON)
set(COLLISION_INCLUDES “./collision/include” “.”)
target_include_directories(crcc PUBLIC ${COLLISION_INCLUDES})

if(NOT S11N_LIBRARY)
set(S11N_LIBRARY “”)
add_definitions(-DENABLE_SERIALIZER=0)
endif()
target_link_libraries(crcc PUBLIC ccd ${FCL_LIBRARIES} ${S11N_LIBRARY})