1) 我构建了可视化工具,但无法启动它。这是我看到的:
(base) Taos-MacBook-Pro:drake taosun$ bazel build //tools:drake_visualizer //manipulation/util:geometry_inspector
INFO: Analyzed 2 targets (0 packages loaded, 0 targets configured).
INFO: Found 2 targets...
INFO: Elapsed time: 0.988s, Critical Path: 0.01s
INFO: 0 processes.
INFO: Build completed successfully, 1 total action
但是当我尝试启动它时,它不起作用:
(base) Taos-MacBook-Pro:drake taosun$ ./bazel-bin/tools/drake_visualizer
Traceback (most recent call last):
File "/usr/local/opt/vtk@8.2/lib/python3.7/site-packages/vtkmodules/vtkIOAMR.py", line 5, in <module>
from .vtkIOAMRPython import *
ImportError: dlopen(/usr/local/opt/vtk@8.2/lib/python3.7/site-packages/vtkmodules/vtkIOAMRPython.so, 2): Library not loaded: /usr/local/opt/hdf5/lib/libhdf5.103.dylib
Referenced from: /usr/local/opt/vtk@8.2/lib/libvtkIOAMR-8.2.1.dylib
Reason: image not found
在处理上述异常的过程中,又出现了一个异常:
Traceback (most recent call last):
File "<string>", line 1, in <module>
File "/private/var/tmp/_bazel_taosun/faebfa4431921ca82cfb8e7cf6a74cad/external/drake_visualizer/lib/python3.7/site-packages/director/drakevisualizerapp.py", line 3, in <module>
from director import mainwindowapp
File "/private/var/tmp/_bazel_taosun/faebfa4431921ca82cfb8e7cf6a74cad/external/drake_visualizer/lib/python3.7/site-packages/director/mainwindowapp.py", line 2, in <module>
from director.componentgraph import ComponentFactory
File "/private/var/tmp/_bazel_taosun/faebfa4431921ca82cfb8e7cf6a74cad/external/drake_visualizer/lib/python3.7/site-packages/director/componentgraph.py", line 2, in <module>
from director.fieldcontainer import FieldContainer
File "/private/var/tmp/_bazel_taosun/faebfa4431921ca82cfb8e7cf6a74cad/external/drake_visualizer/lib/python3.7/site-packages/director/fieldcontainer.py", line 1, in <module>
import vtk
File "/usr/local/opt/vtk@8.2/lib/python3.7/site-packages/vtk.py", line 32, in <module>
all_spec.loader.exec_module(all_m)
File "/usr/local/opt/vtk@8.2/lib/python3.7/site-packages/vtkmodules/all.py", line 67, in <module>
from .vtkIOAMR import *
File "/usr/local/opt/vtk@8.2/lib/python3.7/site-packages/vtkmodules/vtkIOAMR.py", line 9, in <module>
from vtkIOAMRPython import *
ModuleNotFoundError: No module named 'vtkIOAMRPython'
2)我也尝试了python绑定。cmake 和 make 成功完成。但是,当我尝试导入 pydrake 时,出现以下错误:
(base) Taos-MacBook-Pro:GitHub taosun$ cd drake-build
(base) Taos-MacBook-Pro:drake-build taosun$ python3 -c 'import pydrake; print(pydrake.__file__)'
Traceback (most recent call last):
File "<string>", line 1, in <module>
File "/opt/drake/lib/python3.7/site-packages/pydrake/__init__.py", line 41, in <module>
from . import common
File "/opt/drake/lib/python3.7/site-packages/pydrake/common/__init__.py", line 1, in <module>
from ._module_py import *
ImportError: dlopen(/opt/drake/lib/python3.7/site-packages/pydrake/common/_module_py.so, 2): Symbol not found: _PyThread_tss_alloc
Referenced from: /opt/drake/lib/python3.7/site-packages/pydrake/common/_module_py.so
Expected in: flat namespace
in /opt/drake/lib/python3.7/site-packages/pydrake/common/_module_py.so
对于以上两个问题,我怀疑是不是因为我设置不$PYTHONPATH
正确。这是我现在设置的
(base) Taos-MacBook-Pro:drake-build taosun$ echo $PYTHONPATH
/opt/drake/lib/python3.7/site-packages
感谢您的帮助!