Nao cross_compilation libmpfr.so.1 error

asked 2012-01-08 13:56:17 -0600

dougnets22
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When trying to cross-compile for the Nao following the instructions (http://www.ros.org/wiki/nao/Tutorials/Cross-Compiling)

I get the following library error:

/media/external/nao-cross-toolchain-1.10.52/cross/geode/bin/../libexec/gcc/i586-linux/4.3.3/cc1plus: error while loading shared libraries: libmpfr.so.1: cannot open shared object file: No such file or directory

That file is no where to be found in the nao-cross-toolchain folder. I do, however, have libmpfr.so.4 in my /usr/lib directory. Any suggestions on how to either download the libmpfr.so.1 file or point the compilation to the appropriate location?

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answered 2012-01-11 18:40:51 -0600

Stefan Osswald
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I guess that you're using Ubuntu 11.10 (Oneiric), which does not provide libmpfr.so.1 any more. According to Nao's documentation, Oneiric is not officially supported by Aldebaran yet. You can still give it a try, but probably some dependencies will be missing.

In the case of libmpfr, you could try to download the package libmpfr1ldbl from Ubuntu Natty, extract it using dpkg -x and copy libmpfr.so.1 to /media/external/nao-cross-toolchain-1.10.52/cross/geode/bin/../libexec/gcc/i586-linux/4.3.3 .

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answered 2012-01-11 23:23:09 -0600

daniel_maier
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Just do: sudo ln -s /usr/lib/libmpfr.so.4 /usr/lib/libmpfr.so.1

This is a bug in the cross-compilation toolchain that occurs with ubuntu 11.04 and later. Never came across it before, because we are still using 10.04 and 10.10 here. This problem is supposed to be fixed in naoqi 1.12 but unfortunately there are some new issues (like missing log4cxx).

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Thanks for the suggestion. That seemed to solve that particular issue. However, since my machine is a 64 bit computer, now I get the issue:wrong ELF class: ELFCLASS64. I think I'm just going to switch to an older laptop.

dougnets22 ( 2012-01-12 01:35:01 -0600 )edit

aw, that's another problem. I installed a 32-bit chroot environment for that case. Basically, it should be possible to cross compile with a 64bit system, however I think nobody at Aldebaran tested this. You could try as stefan suggested and download the 32bit version of libmpfr.so.1 and copy to /usr/lib/.

daniel_maier ( 2012-01-12 01:41:47 -0600 )edit

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answered 2012-07-17 16:03:55 -0600

ryann2k1
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hi dougnets22, Any progress of your crosscompile ros for nao? I am having the same problem, but for the environment setup, I change slightly, from export GEODE_CXX=$CTC_DIR/cross/geode/bin/i586-linux-g++ export GEODE_CC=$CTC_DIR/cross/geode/bin/i586-linux-gcc

to

export GEODE_CXX=$CTC_DIR/cross/bin/i686-pc-linux-gnu-g++ export GEODE_CC=$CTC_DIR/cross/bin/i686-pc-linux-gnu-gcc

Now, it doesn't need to look for the so library file, but this time different error appears as at my post : http://answers.ros.org/question/38716/error-when-installing-ros-for-nao-robot/ any idea as you may come across? Thanks

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answered 2012-01-08 20:09:55 -0600

daniel_maier
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what are you trying to cross-compile? i.e. what command did you enter?

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Thanks for responding daniel_maier. I am cross-compiling ROS for the NAO. So, at this stage I was in the /ros/electric/ros directory and I typed make (after typing make clean).

dougnets22 ( 2012-01-09 10:21:06 -0600 )edit

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