我在 CARLA 0.9.8 流量管理器中实现了一个 MPC 控制器。该 MPC 控制器依赖于 IPOPT。
Carla 使命令 ( make rebuild; make PythonAPI) 工作正常。
但是import carla在python脚本中spawn_npc.py抛出以下错误：
ImportError: /home/DNDE.EMEA.DENSO/cha/.cache/Python-Eggs/carla-0.9.8-py2.7-linux-x86_64.egg-tmp/carla/libcarla.so: undefined symbol: _ZN5Ipopt16IpoptApplicationC1Ebb
在谷歌搜索了几个小时后，我假设我必须修改文件setup.py才能包含和链接 ipopt 库，该库位于/usr/local/lib.
但是我的试错程序没有成功
setup.py 文件是：
#!/usr/bin/env python
# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
from setuptools import setup, Extension
import fnmatch
import os
import platform
import sys
def get_libcarla_extensions():
include_dirs = ['dependencies/include']
library_dirs = ['dependencies/lib']
libraries = []
sources = ['source/libcarla/libcarla.cpp']
def walk(folder, file_filter='*'):
for root, _, filenames in os.walk(folder):
for filename in fnmatch.filter(filenames, file_filter):
yield os.path.join(root, filename)
if os.name == "posix":
# @todo Replace deprecated method.
linux_distro = platform.dist()[0] # pylint: disable=W1505
if linux_distro.lower() in ["ubuntu", "debian", "deepin"]:
pwd = os.path.dirname(os.path.realpath(__file__))
pylib = "libboost_python%d%d.a" % (sys.version_info.major,
sys.version_info.minor)
extra_link_args = [
os.path.join(pwd, 'dependencies/lib/libcarla_client.a'),
os.path.join(pwd, 'dependencies/lib/librpc.a'),
os.path.join(pwd, 'dependencies/lib/libboost_filesystem.a'),
os.path.join(pwd, 'dependencies/lib/libRecast.a'),
os.path.join(pwd, 'dependencies/lib/libDetour.a'),
os.path.join(pwd, 'dependencies/lib/libDetourCrowd.a'),
os.path.join(pwd, 'dependencies/lib', pylib)]
extra_compile_args = [
'-isystem', 'dependencies/include/system', '-fPIC', '-std=c++14',
'-Werror', '-Wall', '-Wextra', '-Wpedantic', '-Wno-self-assign-overloaded',
'-Wdeprecated', '-Wno-shadow', '-Wuninitialized', '-Wunreachable-code',
'-Wpessimizing-move', '-Wold-style-cast', '-Wnull-dereference',
'-Wduplicate-enum', '-Wnon-virtual-dtor', '-Wheader-hygiene',
'-Wconversion', '-Wfloat-overflow-conversion',
'-DBOOST_ERROR_CODE_HEADER_ONLY', '-DLIBCARLA_WITH_PYTHON_SUPPORT'
]
if 'BUILD_RSS_VARIANT' in os.environ and os.environ['BUILD_RSS_VARIANT'] == 'true':
print('Building AD RSS variant.')
extra_compile_args += ['-DLIBCARLA_RSS_ENABLED']
extra_link_args += [os.path.join(pwd, 'dependencies/lib/libad-rss.a')]
if 'TRAVIS' in os.environ and os.environ['TRAVIS'] == 'true':
print('Travis CI build detected: disabling PNG support.')
extra_link_args += ['-ljpeg', '-ltiff']
extra_compile_args += ['-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=false']
else:
extra_link_args += ['-lpng', '-ljpeg', '-ltiff']
extra_compile_args += ['-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=true']
# @todo Why would we need this?
include_dirs += ['/usr/lib/gcc/x86_64-linux-gnu/7/include']
library_dirs += ['/usr/lib/gcc/x86_64-linux-gnu/7']
extra_link_args += ['/usr/lib/gcc/x86_64-linux-gnu/7/libstdc++.a']
else:
raise NotImplementedError
elif os.name == "nt":
sources += [x for x in walk('dependencies/include/carla', '*.cpp')]
pwd = os.path.dirname(os.path.realpath(__file__))
pylib = 'libboost_python%d%d' % (
sys.version_info.major,
sys.version_info.minor)
extra_link_args = ['shlwapi.lib' ]
required_libs = [
pylib, 'libboost_filesystem',
'rpc.lib', 'carla_client.lib',
'libpng.lib', 'zlib.lib',
'Recast.lib', 'Detour.lib', 'DetourCrowd.lib']
# Search for files in 'PythonAPI\carla\dependencies\lib' that contains
# the names listed in required_libs in it's file name
libs = [x for x in os.listdir('dependencies/lib') if any(d in x for d in required_libs)]
for lib in libs:
extra_link_args.append(os.path.join(pwd, 'dependencies/lib', lib))
# https://docs.microsoft.com/es-es/cpp/porting/modifying-winver-and-win32-winnt
extra_compile_args = [
'/experimental:external', '/external:I', 'dependencies/include/system',
'/DBOOST_ALL_NO_LIB', '/DBOOST_PYTHON_STATIC_LIB',
'/DBOOST_ERROR_CODE_HEADER_ONLY', '/D_WIN32_WINNT=0x0600', '/DHAVE_SNPRINTF',
'/DLIBCARLA_WITH_PYTHON_SUPPORT', '-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=true']
else:
raise NotImplementedError
depends = [x for x in walk('source/libcarla')]
depends += [x for x in walk('dependencies')]
def make_extension(name, sources):
return Extension(
name,
sources=sources,
include_dirs=include_dirs,
library_dirs=library_dirs,
libraries=libraries,
extra_compile_args=extra_compile_args,
extra_link_args=extra_link_args,
language='c++14',
depends=depends)
print('compiling:\n - %s' % '\n - '.join(sources))
return [make_extension('carla.libcarla', sources)]
setup(
name='carla',
version='0.9.8',
package_dir={'': 'source'},
packages=['carla'],
ext_modules=get_libcarla_extensions(),
license='MIT License',
description='Python API for communicating with the CARLA server.',
url='https://github.com/carla-simulator/carla',
author='The CARLA team',
author_email='carla.simulator@gmail.com',
include_package_data=True)
包括在 MPC.cpp 中：
#include "carla/trafficmanager/MPC.h"
#include <cppad/cppad.hpp>
#include <cppad/ipopt/solve.hpp>
#include <Eigen-3.3/Eigen/Dense>
包括在 MPC.h 中：
#include <vector>
#include <Eigen-3.3/Eigen/Dense>
#include "carla/trafficmanager/PIDController.h"
#include "carla/client/Vehicle.h"
#include "carla/geom/Math.h"
任何人都可以帮忙吗？