Unable to compile external/solver

[coert]

After successfully installing Gurobi 6.0.5 I try to make the solver. During linking I get the following:

CMakeFiles/solver-callback.dir/src/pose/research/solver-callback.cxx.o: In function void andres::ilp::Gurobi<double>::addConstraint<unsigned long*, double const*>(unsigned long*, unsigned long*, double const*, double, double) [clone .constprop.252]': solver-callback.cxx:(.text+0x2fc): undefined reference toGRBModel::addConstr(GRBLinExpr const&, char, GRBLinExpr const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >)'
solver-callback.cxx:(.text+0x363): undefined reference to GRBModel::addConstr(GRBLinExpr const&, char, GRBLinExpr const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)' CMakeFiles/solver-callback.dir/src/pose/research/solver-callback.cxx.o: In functionandres::ilp::Gurobi::Callback::callback()':
solver-callback.cxx:(.text._ZN6andres3ilp6GurobiIdE8Callback8callbackEv[_ZN6andres3ilp6GurobiIdE8Callback8callbackEv]+0xbf): undefined reference to GRBException::getMessage[abi:cxx11]() const' CMakeFiles/solver-callback.dir/src/pose/research/solver-callback.cxx.o: In functionvoid andres::ilp::Gurobi::addConstraint<__gnu_cxx::__normal_iterator<unsigned long*, std::vector<unsigned long, std::allocator > >, __gnu_cxx::__normal_iterator<double*, std::vector<double, std::allocator > > >(__gnu_cxx::__normal_iterator<unsigned long*, std::vector<unsigned long, std::allocator > >, __gnu_cxx::__normal_iterator<unsigned long*, std::vector<unsigned long, std::allocator > >, gnu_cxx::normal_iterator<double*, std::vector<double, std::allocator > >, double, double) [clone .constprop.251]':
solver-callback.cxx:(.text.ZN6andres3ilp6GurobiIdE13addConstraintIN9__gnu_cxx17__normal_iteratorIPmSt6vectorImSaImEEEENS5_IPdS7_IdSaIdEEEEEEvT_SF_T0_dd.constprop.251[ZN4pose13PoseEstimatorIN6andres3ilp6GurobiIdEE24FeasibleSolutionCallbackE25addAllCouplingConstraintsEv]+0xb2): undefined reference to GRBModel::addConstr(GRBLinExpr const&, char, GRBLinExpr const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)' CMakeFiles/solver-callback.dir/src/pose/research/solver-callback.cxx.o: In functionvoid andres::ilp::Gurobi::addConstraint<unsigned long*, double const*>(unsigned long, unsigned long, double const, double, double) [clone .constprop.253]':
solver-callback.cxx:(.text.ZN6andres3ilp6GurobiIdE13addConstraintIPmPKdEEvT_S7_T0_dd.constprop.253[ZN4pose13PoseEstimatorIN6andres3ilp6GurobiIdEE24FeasibleSolutionCallbackE36addAllImpossiblePartClassConstraintsEv]+0xb3): undefined reference to GRBModel::addConstr(GRBLinExpr const&, char, GRBLinExpr const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)' CMakeFiles/solver-callback.dir/src/pose/research/solver-callback.cxx.o: In functionvoid andres::ilp::Gurobi::addConstraint<unsigned long, double const>(unsigned long, unsigned long, double const, double, double)':
solver-callback.cxx:(.text._ZN6andres3ilp6GurobiIdE13addConstraintIPmPKdEEvT_S7_T0_dd[_ZN6andres3ilp6GurobiIdE13addConstraintIPmPKdEEvT_S7_T0_dd]+0x13c): undefined reference to GRBModel::addConstr(GRBLinExpr const&, char, GRBLinExpr const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)' solver-callback.cxx:(.text._ZN6andres3ilp6GurobiIdE13addConstraintIPmPKdEEvT_S7_T0_dd[_ZN6andres3ilp6GurobiIdE13addConstraintIPmPKdEEvT_S7_T0_dd]+0x19f): undefined reference toGRBModel::addConstr(GRBLinExpr const&, char, GRBLinExpr const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >)'
solver-callback.cxx:(.text._ZN6andres3ilp6GurobiIdE13addConstraintIPmPKdEEvT_S7_T0_dd[_ZN6andres3ilp6GurobiIdE13addConstraintIPmPKdEEvT_S7_T0_dd]+0x1f3): undefined reference to GRBModel::addConstr(GRBLinExpr const&, char, GRBLinExpr const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)' CMakeFiles/solver-callback.dir/src/pose/research/solver-callback.cxx.o:solver-callback.cxx:(.text._ZN6andres3ilp6GurobiIdE13addConstraintIN9__gnu_cxx17__normal_iteratorIPmSt6vectorImSaImEEEENS5_IPKmS9_EEEEvT_SE_T0_dd[_ZN6andres3ilp6GurobiIdE13addConstraintIN9__gnu_cxx17__normal_iteratorIPmSt6vectorImSaImEEEENS5_IPKmS9_EEEEvT_SE_T0_dd]+0x169): more undefined references toGRBModel::addConstr(GRBLinExpr const&, char, GRBLinExpr const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >)' follow
CMakeFiles/solver-callback.dir/src/pose/research/solver-callback.cxx.o: In function main': solver-callback.cxx:(.text.startup+0x5f9): undefined reference toGRBException::getMessageabi:cxx11 const'
collect2: error: ld returned 1 exit status
CMakeFiles/solver-callback.dir/build.make:102: recipe for target 'solver-callback' failed
make[3]: *** [solver-callback] Error 1
CMakeFiles/Makefile2:141: recipe for target 'CMakeFiles/solver-callback.dir/all' failed
make[2]: *** [CMakeFiles/solver-callback.dir/all] Error 2
CMakeFiles/Makefile2:153: recipe for target 'CMakeFiles/solver-callback.dir/rule' failed
make[1]: *** [CMakeFiles/solver-callback.dir/rule] Error 2
Makefile:155: recipe for target 'solver-callback' failed
make: *** [solver-callback] Error 2

Gurobi environment set to:
GUROBI_HOME=/opt/gurobi605/linux64
LD_LIBRARY_PATH=/opt/gurobi605/linux64/lib

Output from CMake:
coert@beta039608 /mnt/33EE47FC4F4F9C75/Install/deepcut_multiperson/external/solver $ cmake . -DGUROBI_ROOT_DIR=/opt/gurobi605/linux64 -DGUROBI_VERSION=60
-- Try OpenMP C flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Try OpenMP CXX flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Found OpenMP: -fopenmp
-- OpenMP found
-- Found HDF5: /usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5.so;/usr/lib/x86_64-linux-gnu/libpthread.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so (found version "1.8.16")
-- Found GUROBI: /opt/gurobi605/linux64/lib/libgurobi60.so
-- Found GLUT: /usr/lib/x86_64-linux-gnu/libglut.so
-- Configuring done
-- Generating done
-- Build files have been written to: /mnt/33EE47FC4F4F9C75/Install/deepcut_multiperson/external/solver

What am I missing here?

[Gerjo]

This particular error is caused by using a wrong version of the GCC compiler. I believe this has to do with the ABI interface changing with later versions of C++.

The Gurobi website lists gcc-4.6 as the latest supported[0], though the solver library clearly needs a newer version because it specifies the -std=c++11 option in CMake, and not -std=c++0x which is what gcc-4.6 supports. The gcc-4.8.1 compiler is first that supports the -std=c++11 option[1], and will get rid of the above linker error.

Assuming you run Ubuntu, you can sudo apt-get install g++-4.8 to get the latest 4.8 compiler. Following that, you must adjust your CMake invocation to:
cmake . -DGUROBI_ROOT_DIR=/home/gerjo/gurobi603/linux64 -DGUROBI_VERSION=60 -DCMAKE_CXX_COMPILER=/usr/bin/g++-4.8 -DCMAKE_C_COMPILER=/usr/bin/gcc-4.8

Setting -DGUROBI_ROOT_DIR to your installation.

I also hasten to add, that I'm using Gurobi 6.0.3 which you can acquire here (requires login). Not sure if that makes a difference, but the version number seems to match the one given in the build instructions under step 4.

Perhaps the repository maintainer, @eldar, can comment on which GCC version to use exactly?

[0] http://www.gurobi.com/products/supported-platforms
[1] https://gcc.gnu.org/projects/cxx-status.html#cxx11

[bghani]

Thank you, Gerjo. I had the exact same problem. Your solution worked for me.

[derkbreeze]

@Gerjo Thank you Gerjo for your nice advice! Really works for me using default gcc and g++ 5.4.0 in Ubuntu16.04. I installed g++ 4.8.0 and it really helps a lot!