Carla Python/C++扩展-导入错误:未定义的symbol Ipopt

Question

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 make命令(make rebuild; make PythonAPI)运行得很好。

但是，python脚本spawn_npc.py中的import carla会抛出以下错误：

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

在谷歌了几个小时之后，我假设我必须修改文件setup.py，以便包含和链接/usr/local/lib中的ipopt库。

但是我的试错过程并不成功

setup.py文件为：

#!/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)

包含在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"

有人能帮上忙吗？

Answer 1

安装脚本调用编译器以生成共享库。只需修改extra_link_args以链接您的库，就像您直接调用编译器一样。

假设您使用的是Linux，如果您的库安装在您的机器上，那么添加一个-lipopt，对于libpng的-lpng也是如此。如果你把它放在系统库路径之外的某个地方，或者想要静态链接，就传递完整的路径，就像libcarla_client.a一样。

Carla使用clang作为Linux上的编译器，如果您想了解更多详细信息，可以查看其命令行ref。

Answer 2

最近的carla版本在我研究了一段时间后也抛出了同样的错误，我已经尝试了这个方法，希望它能为你工作。首先，使用命令提示符转到spawn.py文件夹所在的位置，然后键入以下命令。

py -3.7 spawn.py

它只支持3.7版本的python，.You可以参考youtube来了解如何在windows中运行保持多个版本的python。