ROS工作空间中Drake集成Gurobi的构建与运行问题

问题描述 #

问题1：Gurobi配置构建后测试程序缺失依赖库 #

使用--config=gurobi构建成功后，运行测试文件时触发以下错误：

/home/user/test_ws/devel/lib/simple_test/simple_test: error while loading shared libraries: libdrake_lcm.so: cannot open shared object file: No such file or directory

不添加--config=gurobi参数时无此问题。

问题2：重复构建时Gurobi符号链接冲突 #

再次执行构建时，触发Python安装脚本错误：

Traceback (most recent call last):
  File "/home/user/test_ws/build/drake/_bazel_user/c0701f1e1e0381b11260fb3e4da5ea58/execroot/drake/bazel-out/k8-opt/bin/install.runfiles/drake/tools/install/installer.py", line 485, in <module>
    main(sys.argv[1:])
  File "/home/user/test_ws/build/drake/_bazel_user/c0701f1e1e0381b11260fb3e4da5ea58/execroot/drake/bazel-out/k8-opt/bin/install.runfiles/drake/tools/install/installer.py", line 478, in main
    exec(f'installer.{action}')
  File "<string>", line 1, in <module>
  File "/home/user/test_ws/build/drake/_bazel_user/c0701f1e1e0381b11260fb3e4da5ea58/execroot/drake/bazel-out/k8-opt/bin/install.runfiles/drake/tools/install/installer.py", line 169, in install
    self.copy_or_link(src, dst_full)
  File "/home/user/test_ws/build/drake/_bazel_user/c0701f1e1e0381b11260fb3e4da5ea58/execroot/drake/bazel-out/k8-opt/bin/install.runfiles/drake/tools/install/installer.py", line 145, in copy_or_link
    os.symlink(relative_link, dst)
FileExistsError: [Errno 17] File exists: './libgurobi.so.9.5.2' -> '/home/user/test_ws/install/lib/libgurobi95.so'

手动删除该符号链接可临时解决，但需重复操作。

环境信息 #

目录结构 #

test_ws/
    build/
    devel/
    ...
    src/
        drake/
        simple_test/
            CMakeLists.txt
            package.xml
            test.cpp

simple_test包的CMakeLists.txt内容 #

cmake_minimum_required(VERSION 3.0.2)
project(simple_test)

execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE ld_version)
if ("${ld_version}" MATCHES "GNU gold")
  message("USING GOLD LINKER!")
  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold -Wl,--disable-new-dtags")
  set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold -Wl,--disable-new-dtags")
endif()

add_compile_options(-std=c++14 -g -DEIGEN_NO_DEBUG -Werror=return-type) #with debugging symbols

find_package(drake REQUIRED PATHS /home/user/test_ws/src/drake/build/install)
find_package(catkin)

catkin_package()

add_executable(simple_test test.cpp)
target_link_libraries(simple_test drake::drake)

解决方案 #

针对问题1：库加载失败 #

1. 动态适配Drake安装路径
   使用--config=gurobi构建Drake时，产物会安装到install_gurobi目录而非默认的install，当前CMake硬编码路径导致链接了无Gurobi配置的Drake库。修改find_package逻辑：

   set(DRAKE_INSTALL_PATH "/home/user/test_ws/src/drake/build/install")
   if(DEFINED ENV{DRAKE_CONFIG} AND "$ENV{DRAKE_CONFIG}" STREQUAL "gurobi")
       set(DRAKE_INSTALL_PATH "/home/user/test_ws/src/drake/build/install_gurobi")
   endif()
   find_package(drake REQUIRED PATHS ${DRAKE_INSTALL_PATH})
   

   构建前先导出环境变量：export DRAKE_CONFIG=gurobi

2. 修复rpath配置
   当前使用的-Wl,--disable-new-dtags会关闭RUNPATH，导致运行时无法定位Drake依赖库。移除该选项，或显式添加Drake库路径到rpath：

   target_link_options(simple_test PRIVATE "-Wl,-rpath,${drake_INSTALL_PREFIX}/lib")
   

3. 临时应急方案
   运行测试程序前手动导出库路径：

   export LD_LIBRARY_PATH=/home/user/test_ws/src/drake/build/install_gurobi/lib:$LD_LIBRARY_PATH
   ./devel/lib/simple_test/simple_test
   

针对问题2：符号链接冲突 #

1. 修改Drake安装脚本逻辑
   编辑drake/tools/install/installer.py中的copy_or_link函数，添加符号链接存在时的删除逻辑：

   def copy_or_link(self, src, dst):
       # 保留原有代码逻辑，新增以下判断
       if os.path.exists(dst) or os.path.islink(dst):
           os.unlink(dst)
       os.symlink(relative_link, dst)
   

2. CMake预构建自动清理
   在simple_test的CMakeLists.txt中添加预构建步骤，自动删除冲突的符号链接：

   add_custom_command(TARGET simple_test PRE_BUILD
       COMMAND ${CMAKE_COMMAND} -E remove -f /home/user/test_ws/install/lib/libgurobi.so.9.5.2
       COMMENT "Removing existing Gurobi symlink to avoid build conflict"
   )
   

3. Bazel缓存清理
   每次构建前清理Drake安装目标的缓存：

   bazel clean --expunge //tools/install:install
   

内容的提问来源于stack exchange，提问作者alvin