Library path issues: cannot find -l<library_name>
I am getting the following error when running colcon build for a package in my ROS2-galactic workspace that references an external C++ library:
jdflo@jdflo-desktop:~/astro_ws$ colcon build
Starting >>> serialization
--- stderr: serialization
/usr/bin/ld: cannot find -lgtsam_unstable
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/graph_talker.dir/build.make:156: graph_talker] Error 1
make[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/graph_talker.dir/all] Error 2
make: *** [Makefile:146: all] Error 2
---
Failed <<< serialization [0.27s, exited with code 2]
Summary: 0 packages finished [0.52s]
1 package failed: serialization
1 package had stderr output: serialization
I have set up my paths as follows (output from terminal):
jdflo@jdflo-desktop:~/astro_ws$ printenv | grep PATH
WINDOWPATH=2
AMENT_PREFIX_PATH=/home/jdflo/astro_ws/install/serialization:/opt/ros/galactic
CMAKE_PREFIX_PATH=/home/jdflo/astro_ws/install/serialization
COLCON_PREFIX_PATH=/home/jdflo/astro_ws/install
PYTHONPATH=/opt/ros/galactic/lib/python3.8/site-packages
LD_LIBRARY_PATH=/home/jdflo/lib/:/home/jdflo/lib/:/opt/ros/galactic/opt/yaml_cpp_vendor/lib:/opt/ros/galactic/opt/rviz_ogre_vendor/lib:/opt/ros/galactic/lib/x86_64-linux-gnu:/opt/ros/galactic/lib
PATH=/opt/ros/galactic/bin:/home/jdflo/miniconda3/condabin:/home/jdflo/.local/bin:/home/jdflo/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/jdflo/julia-1.8.5/bin:/home/jdflo/julia-1.8.5/bin
Within my /home/jdflo/lib/ directory I have the missing lib.so files:
jdflo@jdflo-desktop:~/lib$ ls
cmake libart_skills.so libgtsam.so libgtsam.so.4.2.0 libgtsam_unstable.so.4 libmetis-gtsam.so
gtwrap libCppUnitLite.a libgtsam.so.4 libgtsam_unstable.so libgtsam_unstable.so.4.2.0
But colcon appears to be looking everywhere else in the paths except here (I assume since it never seems to search /home/jdflo/lib/. Could somebody help me figure out how to get colcon to search here? I have pasted my terminal output from trying to search with the linker:
jdflo@jdflo-desktop:~$ ld -lgtsam_unstable --verbose
GNU ld (GNU Binutils for Ubuntu) 2.34
Supported emulations:
elf_x86_64
elf32_x86_64
elf_i386
elf_iamcu
elf_l1om
elf_k1om
i386pep
i386pe
using internal linker script:
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ld: mode elf_x86_64
attempt to open /usr/local/lib/x86_64-linux-gnu/libgtsam.so failed
attempt to open /usr/local/lib/x86_64-linux-gnu/libgtsam.a failed
attempt to open /lib/x86_64-linux-gnu/libgtsam.so failed
attempt to open /lib/x86_64-linux-gnu/libgtsam.a failed
attempt to open /usr/lib/x86_64-linux-gnu/libgtsam.so failed
attempt to open /usr/lib/x86_64-linux-gnu/libgtsam.a failed
attempt to open /usr/lib/x86_64-linux-gnu64/libgtsam.so failed
attempt to open /usr/lib/x86_64-linux-gnu64/libgtsam.a failed
attempt to open /usr/local/lib64/libgtsam.so failed
attempt to open /usr/local/lib64/libgtsam.a failed
attempt to open /lib64/libgtsam.so failed
attempt to open /lib64/libgtsam.a failed
attempt to open /usr/lib64/libgtsam.so failed
attempt to open /usr/lib64/libgtsam.a failed
attempt to open /usr/local/lib/libgtsam.so failed
attempt to open /usr/local/lib/libgtsam.a failed
attempt to open /lib/libgtsam.so failed
attempt to open /lib/libgtsam.a failed
attempt to open /usr/lib/libgtsam.so failed
attempt to open /usr/lib/libgtsam.a failed
attempt to open /usr/x86_64-linux-gnu/lib64/libgtsam.so failed
attempt to open /usr/x86_64-linux-gnu/lib64/libgtsam.a failed
attempt to open /usr/x86_64-linux-gnu/lib/libgtsam.so failed
attempt to open /usr/x86_64-linux-gnu/lib/libgtsam.a failed
Asked by jdflo on 2023-02-14 14:02:28 UTC
Answers
1) Its odd the gtsam libraries are in a subdirectory of your home folder, did you install gtsam from source? Maybe you could try removing the current install of gtsam and install from Ubuntu-PPA instead. That may fix the linking issue. See: https://gtsam.org/get_started/. For the last stable release the steps would be:
# first, uninstall old gtsatm, then do:
sudo add-apt-repository ppa:borglab/gtsam-release-4.0
sudo apt install libgtsam-dev libgtsam-unstable-dev
2) Here are other options. Not sure if they are best practices, so proceed cautiously.
- If you want to keep your current install, you could try appending
/home/jdflo/lib/toLIBRARY_PATHinstead ofLD_LIBRARY_PATH, as suggested here: https://stackoverflow.com/a/5490284. - Or you could try symbolically linking the library file to a location that
ldsearches in, as suggested here: https://stackoverflow.com/a/21647591 (look intolnbash command with the-soption)
Asked by seqwalt on 2023-02-16 14:50:38 UTC
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