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DRCSim 2.2.0 installation on 32 bit machine.

asked 2013-04-03 16:46:23 -0500

Wonyoung gravatar image

updated 2013-04-03 17:02:15 -0500

I have installed gazebo 1.5 already and wanted to see how a humanoid robot is controlled in gazebo. I think Atalas is a good example to benchmark and tried to install DRCSim. The tutorial says 32 bit machine users should compile the source to use the latest version. I tried to follow the instruction, but it said /usr/local/share/gazebo/setup.sh was not found. There was another path for the setup.sh, /usr/share/gazebo/setup.sh and I re-tried with the path. However, during 'make', errors were occured at around 77%.

 [ 77%] [ 77%] Built target VRCPlugin
Built target gazebo_ros_api_plugin
/usr/bin/ld: skipping incompatible /home/biped/drcsim-2.2.0/ros/atlas_msgs/../../plugins/AtlasSimInterface_1.0.3/lib64/libAtlasSimInterface.so when searching for -lAtlasSimInterface
/usr/bin/ld: skipping incompatible /home/biped/drcsim-2.2.0/plugins/AtlasSimInterface_1.0.3/lib64/libAtlasSimInterface.so when searching for -lAtlasSimInterface
/usr/bin/ld: cannot find -lAtlasSimInterface
collect2: ld returned 1 exit status
make[5]: *** [lib/libAtlasPlugin.so] Error 1
make[4]: *** [CMakeFiles/AtlasPlugin.dir/all] Error 2
make[4]: *** Waiting for unfinished jobs....
[ 77%] [ 77%] Built target gazebo_ros_controller_manager
[ 77%] Built target gazebo_ros_camera_utils
Built target gazebo_ros_imu
make[3]: *** [all] Error 2
make[2]: *** [ros/atlas_msgs-prefix/src/atlas_msgs-stamp/atlas_msgs-build] Error 2
make[1]: *** [ros/CMakeFiles/atlas_msgs.dir/all] Error 2
make: *** [all] Error 2

I have no idea what's wrong with it.

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answered 2013-04-03 19:56:33 -0500

Jose Luis Rivero gravatar image

I'm afraid that the AtlasInterfaceLibrary (shipped as a binary with DRCSim) is only available in 64bits at this moment, so trying to compile the source without manually making changes to take the library out of the code, is not going to work.

If you need a fully working version of DRCSim, it's totally recommended to use a 64bits system.

Some experimental work was done to remove the AtlasInterfaceLibrary from the 2.2.0 version of the code, you can find it in drcsim 2.2.0 32bits branch of drcsim. It's totally untested and lacks of the functionality provided but the AtlastInterfaceLibrary.

Again, for a real experience of using DRCSim at this moment, please go for a 64bits version.

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Thank you for the answer. I thought I could install the 32bit version if I compiled the source. Somehow, I should get a 64 OS. Actually, I just realized my laptop supports 64 bit OS. :)

Wonyoung gravatar imageWonyoung ( 2013-04-03 22:27:16 -0500 )edit
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Asked: 2013-04-03 16:46:23 -0500

Seen: 403 times

Last updated: Apr 03 '13