solve the problems when it runs on Ubuntu20.04

[Curry2Puff]

I use ubuntu20.04 and ros noetic to run the code，but it doesnot work。 I use the command “catkin_make”. and then it will report the problem :

/usr/bin/ld: warning: libboost_system.so.1.65.1, needed by /home/ran/catkin_ws/src/Fast-tracker/src/plan_manage/lib/libOptraj.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: /home/ran/catkin_ws/src/Fast-tracker/src/plan_manage/lib/libOptraj.so: undefined reference to boost::system::system_category()' /usr/bin/ld: /home/ran/catkin_ws/src/Fast-tracker/src/plan_manage/lib/libOptraj.so: undefined reference to boost::system::generic_category()' collect2: error: ld returned 1 exit status make[2]: *** [Fast-tracker/src/plan_manage/CMakeFiles/tracking_fsm_node.dir/build.make:520：/home/ran/catkin_ws/devel/lib/plan_manage/tracking_fsm_node] 错误 1 make[1]: *** [CMakeFiles/Makefile2:4059：Fast-tracker/src/plan_manage/CMakeFiles/tracking_fsm_node.dir/all] 错误 2 make: *** [Makefile:141：all] 错误 2 Invoking "make -j16 -l16" failed

The main problem is that the libOptraj.so requires libboost_system.so.1.65.1， but Ubuntu20.04 use libboost_system.so.1.71.0， So how to deal with libOptraj.so to make it compatible with Ubuntu20.04？

[liuholin]

maybe U can resolve it by run :sudo apt-get install libboost1.65-dev, but it's dangerous cuz it will uninsintall la lot packages of ROS, and maybe U need reinstall ROS?

[liuholin]

maybe U can resolve it by run :sudo apt-get install libboost1.65-dev, but it's dangerous cuz it will uninsintall la lot packages of ROS, and maybe U need reinstall ROS?

I tried it and failed, sorry to tell a wrong solution T_T

[yaozhuojiang]

最后有解决方法了？？？

[Curry2Puff]

最后有解决方法了？？？

ubuntu20.04 下的libboost 1.71.0的安装目录和ubuntu 18.04下libboost 1.65.1 的安装目录不相同，我手动下载了libboost 1.65.1，将其安装到ubuntu 18.04的安装位置，是/usr/lib文件夹下。libboost 1.65.1 版本只有一个.so文件。

[yaozhuojiang]

亲测您的方法非常有效，非常感谢！！！

------------------ 原始邮件 ------------------ 发件人: "ZJU-FAST-Lab/Fast-tracker" @.>; 发送时间: 2023年4月20日(星期四) 下午5:12 @.>; @.@.>; 主题: Re: [ZJU-FAST-Lab/Fast-tracker] solve the problems when it runs on Ubuntu20.04 (Issue #4)

最后有解决方法了？？？

ubuntu20.04 下的libboost 1.71.0的安装目录和ubuntu 18.04下libboost 1.65.1 的安装目录不相同，我手动下载了libboost 1.65.1，将其安装到ubuntu 18.04的安装位置，是/usr/lib文件夹下。libboost 1.65.1 版本只有一个.so文件。

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[ALongni]

最后有解决方法了？？？

ubuntu20.04 下的libboost 1.71.0的安装目录和ubuntu 18.04下libboost 1.65.1 的安装目录不相同，我手动下载了libboost 1.65.1，将其安装到ubuntu 18.04的安装位置，是/usr/lib文件夹下。libboost 1.65.1 版本只有一个.so文件。

具体是怎么做的啊

[Curry2Puff]

您好，您的邮件我已收到，祝进一切顺利，谢谢~

[Curry2Puff]

补充一下，在catkin_make时加一个命令 -DBoost_LIBRARY_DIR_RELEASE=/usr/lib/x86_64-linux-gnu

[kintzhao]

using find_package(Boost REQUIRED) to replace find_package(Boost REQUIRED COMPONENTS system filesystem)

git diff diff --git a/src/car_planner/CMakeLists.txt b/src/car_planner/CMakeLists.txt index 92444a0..7a04afe 100755 --- a/src/car_planner/CMakeLists.txt +++ b/src/car_planner/CMakeLists.txt @@ -12,7 +12,8 @@ find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) find_package(PCL 1.7 REQUIRED) find_package(ompl REQUIRED) -find_package(Boost REQUIRED COMPONENTS system filesystem) +#find_package(Boost REQUIRED COMPONENTS system filesystem) +find_package(Boost REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp roslib diff --git a/src/common_utils/uav_simulator/local_sensing/CMakeLists.txt b/src/common_utils/uav_simulator/local_sensing/CMakeLists.txt robot@robot:~/my_pj/track/fast_track_ws/src/Fast-tracker/src/plan_manage/lib$ gti diff diff --git a/src/car_planner/CMakeLists.txt b/src/car_planner/CMakeLists.txt index 92444a0..7a04afe 100755 --- a/src/car_planner/CMakeLists.txt +++ b/src/car_planner/CMakeLists.txt @@ -12,7 +12,8 @@ find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) find_package(PCL 1.7 REQUIRED) find_package(ompl REQUIRED) -find_package(Boost REQUIRED COMPONENTS system filesystem) +#find_package(Boost REQUIRED COMPONENTS system filesystem) +find_package(Boost REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp roslib diff --git a/src/common_utils/uav_simulator/local_sensing/CMakeLists.txt b/src/common_utils/uav_simulator/local_sensing/CMakeLists.txt index fca896c..5505196 100644 --- a/src/common_utils/uav_simulator/local_sensing/CMakeLists.txt +++ b/src/common_utils/uav_simulator/local_sensing/CMakeLists.txt @@ -25,8 +25,8 @@ if(ENABLE_CUDA)

find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED)

• find_package(Boost REQUIRED COMPONENTS system filesystem)

• #find_package(Boost REQUIRED COMPONENTS system filesystem)
• find_package(Boost REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules cv_bridge image_transport pcl_ros sensor_msgs geometry_msgs nav_msgs quadrotor_msgs dynamic_reconfigure) generate_dynamic_reconfigure_options( diff --git a/src/tracking_utils/target_detection/CMakeLists.txt b/src/tracking_utils/target_detection/CMakeLists.txt index 036e99d..3f450b5 100755 --- a/src/tracking_utils/target_detection/CMakeLists.txt +++ b/src/tracking_utils/target_detection/CMakeLists.txt @@ -11,7 +11,8 @@ set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) find_package(PCL 1.7 REQUIRED) -find_package(Boost REQUIRED COMPONENTS system filesystem) +#find_package(Boost REQUIRED COMPONENTS system filesystem) +find_package(Boost REQUIRED) find_package(catkin REQUIRED COMPONENTS roscpp roslib

[Curry2Puff]

您好，您的邮件我已收到，祝进一切顺利，谢谢~

[wzya112]

最后有解决方法了？？？

ubuntu20.04 下的libboost 1.71.0的安装目录和ubuntu 18.04下libboost 1.65.1 的安装目录不相同，我手动下载了libboost 1.65.1，将其安装到ubuntu 18.04的安装位置，是/usr/lib文件夹下。libboost 1.65.1 版本只有一个.so文件。

具体是怎么做的啊

这个链接的安装步骤亲测有效：https://blog.csdn.net/chen411120086/article/details/122618226 执行到第6步就行，把安装位置换为/usr/lib。最后有可能安装好的路径是在/usr/lib/lib中，把里面的libboost_system.so.1.65.1文件复制到/usr/lib下就好，然后重新catkin_make

[Curry2Puff]

您好，您的邮件我已收到，祝进一切顺利，谢谢~