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Error Installing Gazebo from Source in a Catkin ws on Linux: Cannot find -lccd

asked 2016-01-18 11:13:20 -0600

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Hello everyone,

I'm having issues installing gazebo from source. I'm following the tutorial on this page:

http://gazebosim.org/tutorials?tut=in...

With the catkin workspace guidelines: I've cloned all the necessary packages, checked out the branches I need (gazebo 6, sdf3) and added the package.xml files.

All looked well, I initialized catkin and tried running the catkin build block provided by the page. As "catkin build" wasn't recognized I used "catkin_make_isolated" instead. Dart, Bullet and SDF go through without any issues, but as Gazebo is being built I get the following error:


[ 50%] Built target gazebo_gui_model

/usr/bin/ld: cannot find -lccd

collect2: error: ld returned 1 exit status

make[2]: * [gazebo/physics/libgazebo_physics.so.6.5.1] Fehler 1

make[1]: * [gazebo/physics/CMakeFiles/gazebo_physics.dir/all] Fehler 2


Has anyone got an Idea where this issue can come from?

Kind regards, Alex

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answered 2016-01-19 04:42:17 -0600

AndreiHaidu gravatar image

Hi there,

starting gazebo6: "Support for DART version 5.0 is integrated into the default branch.", so Optional Physics Engines: Dart Support is no longer "Optional"?.

Try running these in your terminal:

# Only needed on Trusty. Ubuntu packages since Utopic.
sudo apt-add-repository ppa:libccd-debs
sudo apt-add-repository ppa:fcl-debs

# Main repository
sudo apt-add-repository ppa:dartsim
sudo apt-get update
sudo apt-get install libdart-core5-dev

Source: Installation tutorial.

Cheers, Andrei

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Hi Andrei, thanks for the answer! Unfortunately I can't easily install ppa repositories due to restricted rights. The thing that confuses me though is that libccd is already available in gazebo 6.... I'm currently trying to figure out why it doesn't work regardless. Any ideas? Cheers, Alex

lesi gravatar imagelesi ( 2016-02-05 03:32:09 -0600 )edit
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Asked: 2016-01-18 11:13:20 -0600

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Last updated: Jan 19 '16