In my previous reply I mentioned I couldn't get ogre to load the
bundles. Turned out to be a really easy fix. Ogre on OSX auto-loads
the bundles based on a plugins.cfg file. So aside from the other
things I mentioned in previous emails put a plugins.cfg file in the
same directory as the world file that reads:
Plugin=RenderSystem_GL
Plugin=Plugin_ParticleFX
Plugin=Plugin_BSPSceneManager
Plugin=Plugin_OctreeSceneManager
Plugin=Plugin_CgProgramManager
Also, apply this little patch to server/rendering/OgreAdaptor.cc
Index: OgreAdaptor.cc
===================================================================
--- OgreAdaptor.cc (revision 70)
+++ OgreAdaptor.cc (working copy)
@@ -73,8 +73,9 @@
}
// Load all the plugins
+#ifndef __APPLE__
this->LoadPlugins(node->GetChild("plugins"));
-
+#endif
// Setup the available resources
this->SetupResources(node->GetChild("resources"));
Thats it. Now Ogre starts up and a window opens up. I'm still getting
errors with the observer camera and camera sensor (which makes sense
since it wasn't compiled into the library) but at least it works with
Ogre on OSX now.
Nate K., I'm not familiar with the protocol. How would you like
source additions/changes to be submitted? What would you prefer?
Nate Michael
On Jul 15, 2007, at 12:27 PM, Kevin Barry wrote:
Okay I got past my previous problem by modifying libgazebo/
SConstrict with:
sharedLib = env.SharedLibrary('gazebo', sharedObjs + sources)
staticLib = env.StaticLibrary('gazebo', staticObjs + sources)
(After adding sharedObjs and StaticObjs to the Import line, and
modifying my OIS.pc to use the .o files rather than the libois.a)
So now 'gazebo' builds, but I get an error on player:
g++ -o player/libgazeboplugin.dylib -dynamiclib player/
GazeboDriver.os player/GazeboClient.os player/GazeboInterface.os
player/GazeboTime.os player/SimulationInterface.os player/
Position2dInterface.os player/LaserInterface.os player/
CameraInterface.os server/physics/ode/ODEPhysics.os server/physics/
BallJoint.os server/physics/Body.os server/physics/BoxGeom.os
server/physics/ContactParams.os server/physics/CylinderGeom.os
server/physics/Geom.os server/physics/Hinge2Joint.os server/physics/
HingeJoint.os server/physics/Joint.os server/physics/
PhysicsEngine.os server/physics/PlaneGeom.os server/physics/
SliderJoint.os server/physics/SphereGeom.os server/physics/
UniversalJoint.os server/physics/dCylinder.os server/physics/
RayGeom.os server/rendering/OgreAdaptor.os server/rendering/
OgreFrameListener.os server/rendering/OgreDynamicRenderable.os
server/rendering/OgreDynamicLines.os server/rendering/
OgreSimpleShape.os server/rendering/OgreHUD.os server/sensors/
camera/CameraSensor.os server/sensors/camera/CameraManager.os
server/sensors/ray/RaySensor.os server/sensors/Sensor.os server/
sensors/SensorFactory.os server/models/LightSource/LightSource.os
server/models/Model.os server/models/ModelFactory.os server/
controllers/position2d/pioneer2dx/Pioneer2dx_Position2d.os server/
controllers/laser/sicklms200/SickLMS200_Laser.os server/controllers/
camera/generic/Generic_Camera.os server/controllers/Controller.os
server/controllers/ControllerFactory.os server/main.os server/
Vector3.os server/Quatern.os server/Pose3d.os server/World.os
server/XMLConfig.os server/Time.os server/Entity.os server/
GazeboError.os server/UpdateParams.os server/GazeboMessage.os -
Llibgazebo -L/Library/Frameworks/Ogre.framework -L/opt/local/lib -L/
usr/local/lib -lgazebo -lboost_python -lOgre -lxml2 -lz -liconv -lm
-lplayercore -lltdl -lpthread -lplayerxdr -lplayererror -lode /
Users/gorn/Desktop/Downloads/ois- 1.0RC1/Mac/XCode-2.2/build/
oisStatic.build/Development/oisStatic.build/Objects-normal/i386/
OISEffect.o /Users/gorn/Desktop/Downloads/ois-1.0RC1/Mac/XCode-2.2/
build/oisStatic.build/Development/oisStatic.build/Objects-normal/
i386/OISForceFeedback.o /Users/gorn/Desktop/Downloads/ois- 1.0RC1/
Mac/XCode-2.2/build/oisStatic.build/Development/oisStatic.build/
Objects-normal/i386/OISInputManager.o /Users/gorn/Desktop/Downloads/
ois-1.0RC1/Mac/XCode-2.2/build/oisStatic.build/Development/
oisStatic.build/Objects-normal/i386/OISKeyboard.o /Users/gorn/
Desktop/Downloads/ois- 1.0RC1/Mac/XCode-2.2/build/oisStatic.build/
Development/oisStatic.build/Objects-normal/i386/OISObject.o /Users/
gorn/Desktop/Downloads/ois-1.0RC1/Mac/XCode-2.2/build/
oisStatic.build/Development/oisStatic.build/Objects-normal/i386/
MacHelpers.o /Users/gorn/Desktop/Downloads/ois- 1.0RC1/Mac/
XCode-2.2/build/oisStatic.build/Development/oisStatic.build/Objects-
normal/i386/MacInputManager.o /Users/gorn/Desktop/Downloads/
ois-1.0RC1/Mac/XCode-2.2/build/oisStatic.build/Development/
oisStatic.build/Objects-normal/i386/MacKeyboard.o /Users/gorn/
Desktop/Downloads/ois- 1.0RC1/Mac/XCode-2.2/build/oisStatic.build/
Development/oisStatic.build/Objects-normal/i386/MacMouse.o -
lwx_macud-2.5 -lpython -framework QuickTime -framework IOKit -
framework Carbon -framework Cocoa -framework System
ld: Undefined symbols:
__ZN6gazebo19Graphics3dInterfaceC1E14player_devaddrPNS_12GazeboDriverE
P10ConfigFilei
/usr/bin/libtool: internal link edit command failed
scons: *** [player/libgazeboplugin.dylib] Error 1
scons: building terminated because of errors.
After I get through all this I'll document it and see if we can
make it a bit more straightforward to build on mac
On 7/15/07, Kevin Barry < [EMAIL PROTECTED]> wrote:
Okay I'm running on a Mac which requires a bit of work to get
gazebo to even try to build (If anyone else is trying this you'll
have to create your own pkg-config entries for Ogre and OIS).
The only unresolved problem is at the very end of this, so you
probably can just read that, however I included the whole process I
went through in case I caused the problem fixing a different one.
Anyway so I believe my build environment is setup mostly correct,
on a fresh svn checkout I get:
senior-design-1s-computer:~/gazebo/gazebo_svn_virgin root# scons
install
scons: Reading SConscript files ...
/bin/sh: line 1: python-config: command not found
Unable to parse config [python-config]
senior-design-1s-computer:~/gazebo/gazebo_svn_virgin root#
I believe this is related to boost, but just to get things started
I modified SConscript to call "echo -lpython" in place of python-
config --libs, now:
senior-design-1s-computer:~/gazebo/gazebo_svn_virgin root# scons
install
scons: Reading SConscript files ...
scons: done reading SConscript files.
scons: Building targets ...
g++ -o server/physics/ode/ODEPhysics.o -c -pthread -pipe -I. -
Iserver -Iserver/models -Ilibgazebo -Iserver/rendering -Iserver/
sensors -Iserver/sensors/camera -Iserver/sensors/ray -Iserver/
physics -Iserver/physics/ode -Iserver/controllers -Iserver/
controllers/position2d -Iserver/controllers/position2d/pioneer2dx -
I/usr/include/python2.4 -I/Library/Frameworks/Ogre.framework/
Headers -I/opt/local/include/libxml2 -I/opt/local/include -I/usr/
local/include/player- 2.0 -I/usr/local/include -I/usr/local/include/
OIS server/physics/ode/ODEPhysics.cc
i686-apple-darwin8-g++-4.0.1: unrecognized option '-pthread'
... # all looking good, the pthread thing is just a warning, it's
okay.
... # until:
g++ -o libgazebo/Server.o -c -pthread -pipe -I. -Iserver -Iserver/
models -Ilibgazebo -Iserver/rendering -Iserver/sensors -Iserver/
sensors/camera -Iserver/sensors/ray -Iserver/physics -Iserver/
physics/ode -Iserver/controllers -Iserver/controllers/position2d -
Iserver/controllers/position2d/pioneer2dx -I/usr/include/python2.4 -
I/Library/Frameworks/Ogre.framework/Headers -I/opt/local/include/
libxml2 -I/opt/local/include -I/usr/local/include/player- 2.0 -I/
usr/local/include -I/usr/local/include/OIS libgazebo/Server.cc
i686-apple-darwin8-g++-4.0.1: unrecognized option '-pthread'
libgazebo/Server.cc:47: error: redefinition of 'union semun'
/usr/include/sys/sem.h:184: error: previous definition of 'union
semun'
The declarations in sem.h and Server.cc are the same, so I comment
it out of Server.cc, continue building:
g++ -o gazebo server/physics/ode/ODEPhysics.o server/physics/
BallJoint.o server/physics/Body.o server/physics/BoxGeom.o server/
physics/ContactParams.o server/physics/CylinderGeom.o server/
physics/Geom.o server/physics/Hinge2Joint.o server/physics/
HingeJoint.o server/physics/Joint.o server/physics/PhysicsEngine.o
server/physics/PlaneGeom.o server/physics/SliderJoint.o server/
physics/SphereGeom.o server/physics/UniversalJoint.o server/physics/
dCylinder.o server/physics/RayGeom.o server/rendering/OgreAdaptor.o
server/rendering/OgreFrameListener.o server/rendering/
OgreDynamicRenderable.o server/rendering/OgreDynamicLines.o server/
rendering/OgreSimpleShape.o server/rendering/OgreHUD.o server/
sensors/camera/CameraSensor.o server/sensors/camera/CameraManager.o
server/sensors/ray/RaySensor.o server/sensors/Sensor.o server/
sensors/SensorFactory.o server/models/LightSource/LightSource.o
server/models/Model.o server/models/ModelFactory.o server/
controllers/position2d/pioneer2dx/Pioneer2dx_Position2d.o server/
controllers/laser/sicklms200/SickLMS200_Laser.o server/controllers/
camera/generic/Generic_Camera.o server/controllers/Controller.o
server/controllers/ControllerFactory.o server/main.o server/
Vector3.o server/Quatern.o server/Pose3d.o server/World.o server/
XMLConfig.o server/Time.o server/Entity.o server/GazeboError.o
server/UpdateParams.o server/GazeboMessage.o -Llibgazebo -L/Library/
Frameworks/Ogre.framework -L/opt/local/lib -L/usr/local/lib -
lgazebo -lboost_python -lOgre -lxml2 -lz -liconv -lm -lplayercore -
lltdl -lpthread -lplayerxdr -lplayererror -lode -lois -lpython
/usr/bin/ld: Undefined symbols:
_ActiveNonFloatingWindow
_DisposeEventHandlerUPP
_GetEventParameter
_GetEventTime
_GetWindowEventTarget
_InstallEventHandler
_NewEventHandlerUPP
_RemoveEventHandler
_CallNextEventHandler
gazebo::GazeboError::GazeboError(char const*, int,
std::basic_string<char, std::char_traits<char>,
std::allocator<char> >)referenced from libgazebo expected to be
defined in libgazebo
gazebo::GazeboError::~GazeboError()referenced from libgazebo
expected to be defined in libgazebo
typeinfo for gazebo::GazeboErrorreferenced from libgazebo expected
to be defined in libgazebo
gazebo::GazeboMessage::Msg(int) referenced from libgazebo expected
to be defined in libgazebo
gazebo::GazeboMessage::Instance() referenced from libgazebo
expected to be defined in libgazebo
collect2: ld returned 1 exit status
scons: *** [gazebo] Error 1
scons: building terminated because of errors.
The first set seems to be from wxwindows, so I add wx-config2 --
cflags --libs to SConstruct with the other pkg-config lines,
continue building, sure enough the first errors are eliminated but
the second ones remain.
scons install
...
g++ -o gazebo server/physics/ode/ODEPhysics.o server/physics/
BallJoint.o server/physics/Body.o server/physics/BoxGeom.o server/
physics/ContactParams.o server/physics/CylinderGeom.o server/
physics/Geom.o server/physics/Hinge2Joint.o server/physics/
HingeJoint.o server/physics/Joint.o server/physics/PhysicsEngine.o
server/physics/PlaneGeom.o server/physics/SliderJoint.o server/
physics/SphereGeom.o server/physics/UniversalJoint.o server/physics/
dCylinder.o server/physics/RayGeom.o server/rendering/OgreAdaptor.o
server/rendering/OgreFrameListener.o server/rendering/
OgreDynamicRenderable.o server/rendering/OgreDynamicLines.o server/
rendering/OgreSimpleShape.o server/rendering/OgreHUD.o server/
sensors/camera/CameraSensor.o server/sensors/camera/CameraManager.o
server/sensors/ray/RaySensor.o server/sensors/Sensor.o server/
sensors/SensorFactory.o server/models/LightSource/LightSource.o
server/models/Model.o server/models/ModelFactory.o server/
controllers/position2d/pioneer2dx/Pioneer2dx_Position2d.o server/
controllers/laser/sicklms200/SickLMS200_Laser.o server/controllers/
camera/generic/Generic_Camera.o server/controllers/Controller.o
server/controllers/ControllerFactory.o server/main.o server/
Vector3.o server/Quatern.o server/Pose3d.o server/World.o server/
XMLConfig.o server/Time.o server/Entity.o server/GazeboError.o
server/UpdateParams.o server/GazeboMessage.o -Llibgazebo -L/Library/
Frameworks/Ogre.framework -L/opt/local/lib -L/usr/local/lib -
lgazebo -lboost_python -lOgre -lxml2 -lz -liconv -lm -lplayercore -
lltdl -lpthread -lplayerxdr -lplayererror -lode -lois -lpython -
lwx_macud- 2.5 -framework QuickTime -framework IOKit -framework
Carbon -framework Cocoa -framework System
/usr/bin/ld: Undefined symbols:
gazebo::GazeboError::GazeboError(char const*, int,
std::basic_string<char, std::char_traits<char>,
std::allocator<char> >)referenced from libgazebo expected to be
defined in libgazebo
gazebo::GazeboError::~GazeboError()referenced from libgazebo
expected to be defined in libgazebo
typeinfo for gazebo::GazeboErrorreferenced from libgazebo expected
to be defined in libgazebo
gazebo::GazeboMessage::Msg(int) referenced from libgazebo expected
to be defined in libgazebo
gazebo::GazeboMessage::Instance() referenced from libgazebo
expected to be defined in libgazebo
collect2: ld returned 1 exit status
scons: *** [gazebo] Error 1
scons: building terminated because of errors.
Now server/GazeboError.o is mentioned in the g++ line, I've been
trying different things but I'm really at a loss here. Any ideas?
Thanks,
-Kevin
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