CMake Error at CMakeLists.txt:31 (INCLUDE) about gepetto-viewer

[olivier-stasse]

Dear @IoannisDadiotis, thank your interest.
You did not use the --recursive option when cloning your repository.
It is highly recommended to install Gepetto-Viewer through a binary package.

To fix this you can do:
git submodule init
git submodule update

[IoannisDadiotis]

Thank you @olivier-stasse.

After some additional issues, I finally built and installed without errors.

However, when typping gepetto-gui on a terminal I get:
gepetto-gui: error while loading shared libraries: libgepetto-viewer.so: cannot open shared object file: No such file or directory

The file /usr/local/lib/libgepetto-viewer.so exists.

I read that gepetto-viewer used pkgconfig to locate compiled files. I am not sure if this makes sense but I tried to locate the libgepetto-viewer.so by adding to my .bashrc the following:

export PKG_CONFIG_PATH=/usr/local/lib64/pkgconfig:$PKG_CONFIG_PATH
export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH

I also include export GEPETTO_GUI_PLUGIN_DIRS=${CMAKE_INSTALL_PREFIX}/lib as suggested.

[nim65s]

Hi @IoannisDadiotis ,

pkg-config is used at configure or compile time, not at runtime.
To allow your executable to find its shared objects at runtime, you can use export LD_LIBRARY_PATH=/usr/local/lib

[IoannisDadiotis]

Hi @nim65s, I can now launch the gui. Notice that in the terminal I launch it, I get

libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile

Morover, while trying to use crocoddyl and doing python -m crocoddyl.examples.quadrupedal_gaits "plot" "display" (without the display option I have no issues) I get:

*** SOLVE walking ***
/opt/openrobots/lib/python2.7/site-packages/pinocchio/robot_wrapper.py:272: UserWarning: Error while importing the viewer client.
Check whether gepetto-gui is properly installed
  self.viz.initViewer(*args, **kwargs)
/opt/openrobots/lib/python2.7/site-packages/pinocchio/robot_wrapper.py:272: UserWarning: Error while starting the viewer client.
Check whether gepetto-viewer is properly started
  self.viz.initViewer(*args, **kwargs)
Traceback (most recent call last):
  File "/usr/lib/python2.7/runpy.py", line 174, in _run_module_as_main
    "__main__", fname, loader, pkg_name)
  File "/usr/lib/python2.7/runpy.py", line 72, in _run_code
    exec code in run_globals
  File "/opt/openrobots/lib/python2.7/site-packages/crocoddyl/examples/quadrupedal_gaits.py", line 102, in <module>
    display = crocoddyl.GepettoDisplay(anymal, 4, 4, cameraTF, frameNames=[lfFoot, rfFoot, lhFoot, rhFoot])
  File "/opt/openrobots/lib/python2.7/site-packages/crocoddyl/__init__.py", line 100, in __init__
    self._addRobot()
  File "/opt/openrobots/lib/python2.7/site-packages/crocoddyl/__init__.py", line 239, in _addRobot
    self.robot.loadViewerModel(rootNodeName="robot")
  File "/opt/openrobots/lib/python2.7/site-packages/pinocchio/robot_wrapper.py", line 294, in loadViewerModel
    self.viz.loadViewerModel(*args, **kwargs)
  File "/opt/openrobots/lib/python2.7/site-packages/pinocchio/visualize/gepetto_visualizer.py", line 137, in loadViewerModel
    gui = self.viewer.gui
AttributeError: 'GepettoVisualizer' object has no attribute 'viewer'

[florent-lamiraux]

The error seems to come from this block: https://github.com/stack-of-tasks/pinocchio/blob/7e3f96e59047b40e678a53b3877b401af4b6d0bd/bindings/python/pinocchio/visualize/gepetto_visualizer.py#L37.
Can you try to run the commands one by one to check where it fails ?

[IoannisDadiotis]

@florent-lamiraux, I am not sure if this is the optimal way but I did it by adding breakpoints.

It seems to fail in this line while the UserWarning: Error while importing the viewer client. Check whether gepetto-gui is properly installed self.viz.initViewer(*args, **kwargs) is raised from previous line.

[IoannisDadiotis]

I think I have missed gepetto-viewer-corba which is important for the display option.

When sudo apt update && sudo apt install robotpkg-py27-qt4-gepetto-viewer-corba
I get:

Hit:1 http://it.archive.ubuntu.com/ubuntu bionic InRelease
Hit:2 http://it.archive.ubuntu.com/ubuntu bionic-updates InRelease     
Hit:3 http://it.archive.ubuntu.com/ubuntu bionic-backports InRelease   
Hit:4 http://dl.google.com/linux/chrome/deb stable InRelease           
Hit:5 http://archive.ubuntu.com/ubuntu bionic InRelease                
Hit:6 https://desktop-download.mendeley.com/download/apt stable InRelease
Hit:7 http://packages.microsoft.com/repos/code stable InRelease        
Ign:8 http://robotpkg.openrobots.org/packages/debian/pub bionic InRelease
Get:9 http://security.ubuntu.com/ubuntu bionic-security InRelease [88,7 kB]
Hit:10 http://robotpkg.openrobots.org/packages/debian/pub bionic Release
Hit:12 http://packages.ros.org/ros/ubuntu bionic InRelease             
Get:13 http://security.ubuntu.com/ubuntu bionic-security/main amd64 DEP-11 Metadata [48,5 kB]
Get:14 http://security.ubuntu.com/ubuntu bionic-security/universe amd64 DEP-11 Metadata [60,6 kB]
Get:15 http://security.ubuntu.com/ubuntu bionic-security/multiverse amd64 DEP-11 Metadata [2.464 B]
Fetched 200 kB in 1s (149 kB/s)     
Reading package lists... Done
Building dependency tree       
Reading state information... Done
2 packages can be upgraded. Run 'apt list --upgradable' to see them.
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 robotpkg-py27-qt4-gepetto-viewer-corba : Depends: robotpkg-qt4-osgqt (= 3.5.7r1) but 3.5.7r3 is to be installed or
                                                   robotpkg-qt4-osgqt (= 3.5.7r2) but 3.5.7r3 is to be installed
                                          Depends: robotpkg-py27-qt4-gepetto-viewer (= 4.9.0r2) or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.6.0) or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.9.0r1) or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.9.0r2) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.8.0) or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.9.0r3) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.9.0r3) or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.9.0) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.7.0) or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.8.0) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.10.1r1) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.9.0) or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.7.0) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.9.0r1) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.10.1r1) or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.10.1r2) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.10.1r2)
E: Unable to correct problems, you have held broken packages.

[IoannisDadiotis]

Configuration:
	Configuration file:              	settings
	Log file:                        	standard output
	Predefined robots:               	robots
	Predefined environments:         	environments
	User configuration search path:  	/home/ioannis/.config/gepetto-gui
	System configuration search path:	/usr/local/etc/gepetto-gui

Options:
	Verbose:                          	1
	No plugin:                        	0
	Use omni name service:            	0
	Refresh rate:                     	30

Screen capture options:
	Directory:                        	/home/ioannis/Pictures/gepetto-gui
	Filename:                         	screenshot
	Extension:                        	png
	Avconv command:                   	/usr/bin/ffmpeg
	Avconv input options:             	-r 25
	Avconv output options:            	-vf scale=trunc(iw/2)*2:trunc(ih/2)*2 -r 25 -vcodec libx264

omniORB configuration
	-ORBendPoint = :::12321
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile

[florent-lamiraux]

I did not see your previous message. You need actually to install robotpkg-gepetto-viewer-corba.
Maybe you can try sudo apt upgrade and then retry sudo apt install robotpkg-py27-qt4-gepetto-viewer-corba.

[IoannisDadiotis]

I get the same errors:

Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 robotpkg-py27-qt4-gepetto-viewer-corba : Depends: robotpkg-qt4-osgqt (= 3.5.7r1) but 3.5.7r3 is to be installed or
                                                   robotpkg-qt4-osgqt (= 3.5.7r2) but 3.5.7r3 is to be installed
                                          Depends: robotpkg-py27-qt4-gepetto-viewer (= 4.9.0r2) or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.6.0) or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.9.0r1) or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.9.0r2) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.8.0) or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.9.0r3) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.9.0r3) or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.9.0) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.7.0) or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.8.0) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.10.1r1) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.9.0) or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.7.0) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.9.0r1) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.10.1r1) or
                                                   robotpkg-py27-qt4-gepetto-viewer+doc (= 4.10.1r2) but it is not going to be installed or
                                                   robotpkg-py27-qt4-gepetto-viewer (= 4.10.1r2)
E: Unable to correct problems, you have held broken packages.

[florent-lamiraux]

It seems that the binary packages are being rebuilt: http://robotpkg.openrobots.org/rbulk/robotpkg/index.html?.
Wait until it is done and try again.

[jmirabel]

You cannot install gepetto viewer from source and gepetto-viewer corba from binaries...

[IoannisDadiotis]

@jmirabel Thanks for the clarification. I am trying to install gepetto-viewer-corba from source. When make install I get:

/usr/bin/cmake -H/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba -B/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build/CMakeFiles /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build/CMakeFiles/progress.marks
make -f CMakeFiles/Makefile2 all
make[1]: Entering directory '/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build'
make -f src/CMakeFiles/generate_idl_cpp.dir/build.make src/CMakeFiles/generate_idl_cpp.dir/depend
make[2]: Entering directory '/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build'
cd /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/src /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build/src /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build/src/CMakeFiles/generate_idl_cpp.dir/DependInfo.cmake --color=
make[2]: Leaving directory '/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build'
make -f src/CMakeFiles/generate_idl_cpp.dir/build.make src/CMakeFiles/generate_idl_cpp.dir/build
make[2]: Entering directory '/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build'
make[2]: Nothing to be done for 'src/CMakeFiles/generate_idl_cpp.dir/build'.
make[2]: Leaving directory '/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build'
[  9%] Built target generate_idl_cpp
make -f src/CMakeFiles/generate_idl_python.dir/build.make src/CMakeFiles/generate_idl_python.dir/depend
make[2]: Entering directory '/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build'
cd /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/src /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build/src /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build/src/CMakeFiles/generate_idl_python.dir/DependInfo.cmake --color=
make[2]: Leaving directory '/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build'
make -f src/CMakeFiles/generate_idl_python.dir/build.make src/CMakeFiles/generate_idl_python.dir/build
make[2]: Entering directory '/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build'
[  9%] Generating Python stubs for graphical-interface
cd /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build/src && /usr/bin/omniidl -bpython -I/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/idl -Cgepetto/viewer/corba -C/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build/src -K -Wbpackage=gepetto.corbaserver /home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/idl/gepetto/viewer/graphical-interface.idl
omniidl: Could not import back-end 'python'
omniidl: Maybe you need to use the -p option?
omniidl: (The error was 'No module named 'omniidl_be.python'')
src/CMakeFiles/generate_idl_python.dir/build.make:63: recipe for target 'src/gepetto/viewer/corba/gepetto/viewer/corba/graphical-interface_idl.py' failed
make[2]: *** [src/gepetto/viewer/corba/gepetto/viewer/corba/graphical-interface_idl.py] Error 1
make[2]: Leaving directory '/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build'
CMakeFiles/Makefile2:1472: recipe for target 'src/CMakeFiles/generate_idl_python.dir/all' failed
make[1]: *** [src/CMakeFiles/generate_idl_python.dir/all] Error 2
make[1]: Leaving directory '/home/ioannis/fromlaas_ws/src/gepetto-viewer-corba/_build'
Makefile:143: recipe for target 'all' failed
make: *** [all] Error 2

To reach this point it was needed to sudo apt-get install libomniorb4-dev omniidl

[jmirabel]

Why don't you go for binaries ?

[IoannisDadiotis]

You cannot install gepetto viewer from source and gepetto-viewer corba from binaries...

I have already installed gepetto-viewer from source. Based on your comment I cannot install gv-corba from binaries unless I re-install gepetto-viewer from binaries. Do you think this is a better option?

[jmirabel]

Remove everything you have installed and use the binaries.

[IoannisDadiotis]

So I will first need to re-install gepetto-viewer and osgQt from binaries. Could you guide me through this? I only found documentation for installing from source.

[nim65s]

You don't need to do anything special about osgQt. If you run sudo apt install robotpkg-py3\*-qt5-gepetto-viewer-corba, everything you need will automatically come

[IoannisDadiotis]

Can I adjust to python2.7 and qt4 (since I have Qt version 4.8.7 and default Python 2.7.17)? Something like sudo apt install robotpkg-py27\*-qt4-gepetto-viewer-corba ?

[nim65s]

I suggest robotpkg-py27-qt5-gepetto-viewer-corba. This will automatically setup the Qt5 required dependency on your system, without interfering with your existing Qt 4.8.7. Using the viewer in Qt4 is becoming deprecated, and you might not have the latest version, features and bugfixes.

[IoannisDadiotis]

Thank you. Well, I played around with the examples and they seem to run as expected through terminal.

I then tried to run an example from the notebooks in a virtual environment with python2.7 interpreter in Pycharm (while running gepetto-gui in a terminal) and I got:

/opt/openrobots/lib/python2.7/site-packages/pinocchio/robot_wrapper.py:272: UserWarning: Error while importing the viewer client.
Check whether gepetto-gui is properly installed
  self.viz.initViewer(*args, **kwargs)
/opt/openrobots/lib/python2.7/site-packages/pinocchio/robot_wrapper.py:272: UserWarning: Error while starting the viewer client.
Check whether gepetto-viewer is properly started
  self.viz.initViewer(*args, **kwargs)
Traceback (most recent call last):
  File "/home/ioannis/PycharmProjects/test_crocoddyl/arm_manipulation.py", line 14, in <module>
    display = crocoddyl.GepettoDisplay(robot, cameraTF=cameraTF, floor=False)
  File "/opt/openrobots/lib/python2.7/site-packages/crocoddyl/__init__.py", line 100, in __init__
    self._addRobot()
  File "/opt/openrobots/lib/python2.7/site-packages/crocoddyl/__init__.py", line 239, in _addRobot
    self.robot.loadViewerModel(rootNodeName="robot")
  File "/opt/openrobots/lib/python2.7/site-packages/pinocchio/robot_wrapper.py", line 294, in loadViewerModel
    self.viz.loadViewerModel(*args, **kwargs)
  File "/opt/openrobots/lib/python2.7/site-packages/pinocchio/visualize/gepetto_visualizer.py", line 137, in loadViewerModel
    gui = self.viewer.gui
AttributeError: 'GepettoVisualizer' object has no attribute 'viewer'

As far as I can understand, it looks like I should add some paths to the interpreter but I am not sure which one. I tried adding the following:

/opt/openrobots/lib
/usr/local/lib

as in the former there are libgepetto-viewer-corba.so libgepetto-viewer.so files while in the latter libgepetto-viewer.so file, but that didn't solve.

This may be not related with gepetto-viewer but trying to run code from the unicycle example in a similar environment gave me:
ImportError: No module named unicycle_utils. Notice that I get the same output when trying to import unicycle_utils from terminal.

[IoannisDadiotis]

Solved by augmenting interpreter's path with /usr/lib/python2.7/dist-packages.

Copied the code from unicycle_utils to my project as a workaround

Thanks to everyone for the support.