在ubuntu20.04版本进行OCS2的安装，根据https://zhuanlan.zhihu.com/p/682704448进行安装，在最后一步
catkin build ocs2
因为编译过程很长，因此只放了出现错误的部分
Errors << ocs2_oc:make /home/rui/ocs2_ws/logs/ocs2_oc/build.make.014.log
In file included from /home/rui/ocs2_ws/src/ocs2/ocs2_oc/src/rollout/PerformanceIndicesRollout.cpp:30:
/home/rui/ocs2_ws/src/ocs2/ocs2_core/include/ocs2_core/integration/TrapezoidalIntegration.h: In function ‘VALUE_T ocs2::trapezoidalIntegration(const std::vector<SCALAR_T>&, const std::vector<VALUE_T>&, VALUE_T)’:
/home/rui/ocs2_ws/src/ocs2/ocs2_core/include/ocs2_core/integration/TrapezoidalIntegration.h:51:8: error: ‘size_t’ was not declared in this scope; did you mean ‘std::size_t’?
51 | for (size_t k = 1; k < timeTrajectory.size(); k++) {
| ^~~~~~
| std::size_t
compilation terminated due to -Wfatal-errors.
make[2]: *** [CMakeFiles/ocs2_oc.dir/build.make:310：CMakeFiles/ocs2_oc.dir/src/rollout/PerformanceIndicesRollout.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:738：CMakeFiles/ocs2_oc.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
cd /home/rui/ocs2_ws/build/ocs2_oc; catkin build --get-env ocs2_oc | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -
...............................................................................
Failed << ocs2_oc:make [ Exited with code 2 ]
Failed <<< ocs2_oc [ 0.4 seconds ]
Abandoned <<< convex_plane_decomposition_ros [ Unrelated job failed ]
Abandoned <<< grid_map_demos [ Unrelated job failed ]
Abandoned <<< ocs2 [ Unrelated job failed ]
Abandoned <<< ocs2_anymal [ Unrelated job failed ]
Abandoned <<< ocs2_mpcnet [ Unrelated job failed ]
Abandoned <<< ocs2_pinocchio [ Unrelated job failed ]
Abandoned <<< ocs2_raisim [ Unrelated job failed ]
Abandoned <<< ocs2_robotic_examples [ Unrelated job failed ]
Abandoned <<< ocs2_mpc [ Unrelated job failed ]
Abandoned <<< ocs2_qp_solver [ Unrelated job failed ]
Abandoned <<< hpipm_catkin [ Unrelated job failed ]
Abandoned <<< ocs2_ddp [ Unrelated job failed ]
Abandoned <<< ocs2_ipm [ Unrelated job failed ]
Abandoned <<< ocs2_ocs2 [ Unrelated job failed ]
Abandoned <<< ocs2_raisim_core [ Unrelated job failed ]
Abandoned <<< ocs2_raisim_ros [ Unrelated job failed ]
Abandoned <<< ocs2_robotic_tools [ Unrelated job failed ]
Abandoned <<< ocs2_cartpole [ Unrelated job failed ]
Abandoned <<< ocs2_perceptive [ Unrelated job failed ]
Abandoned <<< ocs2_python_interface [ Unrelated job failed ]
Abandoned <<< ocs2_double_integrator [ Unrelated job failed ]
Abandoned <<< ocs2_quadrotor [ Unrelated job failed ]
Abandoned <<< ocs2_ros_interfaces [ Unrelated job failed ]
Abandoned <<< ocs2_cartpole_ros [ Unrelated job failed ]
Abandoned <<< ocs2_double_integrator_ros [ Unrelated job failed ]
Abandoned <<< ocs2_mpcnet_core [ Unrelated job failed ]
Abandoned <<< ocs2_quadrotor_ros [ Unrelated job failed ]
Abandoned <<< ocs2_slp [ Unrelated job failed ]
Abandoned <<< ocs2_sqp [ Unrelated job failed ]
Abandoned <<< ocs2_ballbot [ Unrelated job failed ]
Abandoned <<< ocs2_ballbot_ros [ Unrelated job failed ]
Abandoned <<< ocs2_ballbot_mpcnet [ Unrelated job failed ]
Abandoned <<< ocs2_switched_model_interface [ Unrelated job failed ]
Abandoned <<< ocs2_anymal_commands [ Unrelated job failed ]
Abandoned <<< ocs2_pinocchio_interface [ Unrelated job failed ]
Abandoned <<< ocs2_anymal_models [ Unrelated job failed ]
Abandoned <<< ocs2_centroidal_model [ Unrelated job failed ]
Abandoned <<< ocs2_legged_robot [ Unrelated job failed ]
Abandoned <<< ocs2_legged_robot_ros [ Unrelated job failed ]
Abandoned <<< ocs2_legged_robot_raisim [ Unrelated job failed ]
Abandoned <<< ocs2_legged_robot_mpcnet [ Unrelated job failed ]
Abandoned <<< ocs2_self_collision [ Unrelated job failed ]
Abandoned <<< ocs2_mobile_manipulator [ Unrelated job failed ]
Abandoned <<< ocs2_self_collision_visualization [ Unrelated job failed ]
Abandoned <<< ocs2_mobile_manipulator_ros [ Unrelated job failed ]
Abandoned <<< segmented_planes_terrain_model [ Unrelated job failed ]
Abandoned <<< ocs2_quadruped_interface [ Unrelated job failed ]
Abandoned <<< ocs2_anymal_mpc [ Unrelated job failed ]
Abandoned <<< ocs2_quadruped_loopshaping_interface [ Unrelated job failed ]
Abandoned <<< ocs2_anymal_loopshaping_mpc [ Unrelated job failed ]
Finished <<< grid_map_rviz_plugin [ 0.2 seconds ]
Finished <<< convex_plane_decomposition [ 0.3 seconds ]
Finished <<< grid_map_loader [ 0.1 seconds ]
Finished <<< grid_map_visualization [ 0.2 seconds ]
Finished <<< grid_map_filters [ 0.4 seconds ]
_______________________________________________________________________________
Errors << pinocchio:make /home/rui/ocs2_ws/logs/pinocchio/build.make.014.log
In file included from /usr/local/include/boost/math/constants/constants.hpp:10,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/math/fwd.hpp:10,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/math/quaternion.hpp:12,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/spatial/se3-tpl.hpp:12,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/spatial/se3.hpp:44,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/multibody/model.hpp:10,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/parsers/urdf.hpp:9,
from /home/rui/ocs2_ws/src/pinocchio/src/parsers/urdf/geometry.cpp:5:
/usr/local/include/boost/math/tools/config.hpp:26:6: warning: #warning "Boost.Math requires C++14" [-Wcpp]
26 | # warning "Boost.Math requires C++14"
| ^~~~~~~
In file included from /usr/local/include/boost/math/constants/constants.hpp:10,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/math/fwd.hpp:10,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/math/quaternion.hpp:12,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/spatial/se3-tpl.hpp:12,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/spatial/se3.hpp:44,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/parsers/urdf/utils.hpp:8,
from /home/rui/ocs2_ws/src/pinocchio/src/parsers/urdf/utils.cpp:1:
/usr/local/include/boost/math/tools/config.hpp:26:6: warning: #warning "Boost.Math requires C++14" [-Wcpp]
26 | # warning "Boost.Math requires C++14"
| ^~~~~~~
In file included from /usr/local/include/boost/math/constants/constants.hpp:10,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/math/fwd.hpp:10,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/math/quaternion.hpp:12,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/spatial/se3-tpl.hpp:12,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/spatial/se3.hpp:44,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/multibody/model.hpp:10,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/parsers/urdf.hpp:9,
from /home/rui/ocs2_ws/src/pinocchio/src/parsers/urdf/model.cpp:6:
/usr/local/include/boost/math/tools/config.hpp:26:6: warning: #warning "Boost.Math requires C++14" [-Wcpp]
26 | # warning "Boost.Math requires C++14"
| ^~~~~~~
In file included from /usr/local/include/eigen3/Eigen/LU:29,
from /usr/local/include/eigen3/Eigen/Geometry:14,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/math/quaternion.hpp:19,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/spatial/se3-tpl.hpp:12,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/spatial/se3.hpp:44,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/parsers/urdf/utils.hpp:8,
from /home/rui/ocs2_ws/src/pinocchio/src/parsers/urdf/utils.cpp:1:
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h: In static member function ‘static Eigen::Index Eigen::internal::partial_lu_impl<Scalar, StorageOrder, PivIndex, SizeAtCompileTime>::unblocked_lu(Eigen::internal::partial_lu_impl<Scalar, StorageOrder, PivIndex, SizeAtCompileTime>::MatrixTypeRef&, PivIndex*, PivIndex&)’:
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:390:27: error: expected primary-expression before ‘<’ token
390 | lu.col(k).tail(fix<RRows>(rrows)) /= lu.coeff(k,k);
| ^
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:33: error: expected primary-expression before ‘<’ token
400 | lu.bottomRightCorner(fix<RRows>(rrows),fix<RCols>(rcols)).noalias() -= lu.col(k).tail(fix<RRows>(rrows)) * lu.row(k).tail(fix<RCols>(rcols));
| ^
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:51: error: expected primary-expression before ‘<’ token
400 | lu.bottomRightCorner(fix<RRows>(rrows),fix<RCols>(rcols)).noalias() -= lu.col(k).tail(fix<RRows>(rrows)) * lu.row(k).tail(fix<RCols>(rcols));
| ^
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:98: error: expected primary-expression before ‘<’ token
400 | lu.bottomRightCorner(fix<RRows>(rrows),fix<RCols>(rcols)).noalias() -= lu.col(k).tail(fix<RRows>(rrows)) * lu.row(k).tail(fix<RCols>(rcols));
| ^
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:134: error: expected primary-expression before ‘<’ token
400 | lu.bottomRightCorner(fix<RRows>(rrows),fix<RCols>(rcols)).noalias() -= lu.col(k).tail(fix<RRows>(rrows)) * lu.row(k).tail(fix<RCols>(rcols));
| ^
make[2]: *** [src/CMakeFiles/pinocchio.dir/build.make:92：src/CMakeFiles/pinocchio.dir/parsers/urdf/utils.cpp.o] 错误 1
make[2]: *** 正在等待未完成的任务....
In file included from /usr/local/include/eigen3/Eigen/LU:29,
from /usr/local/include/eigen3/Eigen/Geometry:14,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/math/quaternion.hpp:19,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/spatial/se3-tpl.hpp:12,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/spatial/se3.hpp:44,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/multibody/model.hpp:10,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/parsers/urdf.hpp:9,
from /home/rui/ocs2_ws/src/pinocchio/src/parsers/urdf/model.cpp:6:
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h: In static member function ‘static Eigen::Index Eigen::internal::partial_lu_impl<Scalar, StorageOrder, PivIndex, SizeAtCompileTime>::unblocked_lu(Eigen::internal::partial_lu_impl<Scalar, StorageOrder, PivIndex, SizeAtCompileTime>::MatrixTypeRef&, PivIndex*, PivIndex&)’:
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:390:27: error: expected primary-expression before ‘<’ token
390 | lu.col(k).tail(fix<RRows>(rrows)) /= lu.coeff(k,k);
| ^
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:33: error: expected primary-expression before ‘<’ token
400 | lu.bottomRightCorner(fix<RRows>(rrows),fix<RCols>(rcols)).noalias() -= lu.col(k).tail(fix<RRows>(rrows)) * lu.row(k).tail(fix<RCols>(rcols));
| ^
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:51: error: expected primary-expression before ‘<’ token
400 | lu.bottomRightCorner(fix<RRows>(rrows),fix<RCols>(rcols)).noalias() -= lu.col(k).tail(fix<RRows>(rrows)) * lu.row(k).tail(fix<RCols>(rcols));
| ^
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:98: error: expected primary-expression before ‘<’ token
400 | lu.bottomRightCorner(fix<RRows>(rrows),fix<RCols>(rcols)).noalias() -= lu.col(k).tail(fix<RRows>(rrows)) * lu.row(k).tail(fix<RCols>(rcols));
| ^
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:134: error: expected primary-expression before ‘<’ token
400 | lu.bottomRightCorner(fix<RRows>(rrows),fix<RCols>(rcols)).noalias() -= lu.col(k).tail(fix<RRows>(rrows)) * lu.row(k).tail(fix<RCols>(rcols));
| ^
In file included from /usr/local/include/eigen3/Eigen/LU:29,
from /usr/local/include/eigen3/Eigen/Geometry:14,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/math/quaternion.hpp:19,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/spatial/se3-tpl.hpp:12,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/spatial/se3.hpp:44,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/multibody/model.hpp:10,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/parsers/urdf.hpp:9,
from /home/rui/ocs2_ws/src/pinocchio/src/parsers/urdf/geometry.cpp:5:
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h: In static member function ‘static Eigen::Index Eigen::internal::partial_lu_impl<Scalar, StorageOrder, PivIndex, SizeAtCompileTime>::unblocked_lu(Eigen::internal::partial_lu_impl<Scalar, StorageOrder, PivIndex, SizeAtCompileTime>::MatrixTypeRef&, PivIndex*, PivIndex&)’:
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:390:27: error: expected primary-expression before ‘<’ token
390 | lu.col(k).tail(fix<RRows>(rrows)) /= lu.coeff(k,k);
| ^
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:33: error: expected primary-expression before ‘<’ token
400 | lu.bottomRightCorner(fix<RRows>(rrows),fix<RCols>(rcols)).noalias() -= lu.col(k).tail(fix<RRows>(rrows)) * lu.row(k).tail(fix<RCols>(rcols));
| ^
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:51: error: expected primary-expression before ‘<’ token
400 | lu.bottomRightCorner(fix<RRows>(rrows),fix<RCols>(rcols)).noalias() -= lu.col(k).tail(fix<RRows>(rrows)) * lu.row(k).tail(fix<RCols>(rcols));
| ^
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:98: error: expected primary-expression before ‘<’ token
400 | lu.bottomRightCorner(fix<RRows>(rrows),fix<RCols>(rcols)).noalias() -= lu.col(k).tail(fix<RRows>(rrows)) * lu.row(k).tail(fix<RCols>(rcols));
| ^
/usr/local/include/eigen3/Eigen/src/LU/PartialPivLU.h:400:134: error: expected primary-expression before ‘<’ token
400 | lu.bottomRightCorner(fix<RRows>(rrows),fix<RCols>(rcols)).noalias() -= lu.col(k).tail(fix<RRows>(rrows)) * lu.row(k).tail(fix<RCols>(rcols));
| ^
In file included from /usr/local/include/boost/smart_ptr/detail/requires_cxx11.hpp:9,
from /usr/local/include/boost/smart_ptr/scoped_ptr.hpp:13,
from /usr/local/include/boost/scoped_ptr.hpp:13,
from /usr/local/include/boost/archive/detail/basic_oarchive.hpp:22,
from /usr/local/include/boost/archive/detail/common_oarchive.hpp:21,
from /usr/local/include/boost/archive/basic_text_oarchive.hpp:29,
from /usr/local/include/boost/archive/text_oarchive.hpp:31,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/serialization/archive.hpp:14,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/serialization/serializable.hpp:8,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/multibody/model.hpp:21,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/parsers/urdf.hpp:9,
from /home/rui/ocs2_ws/src/pinocchio/src/parsers/urdf/model.cpp:6:
/usr/local/include/boost/bind.hpp: At global scope:
/usr/local/include/boost/bind.hpp:36:1: note: ‘#pragma message: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.’
36 | BOOST_PRAGMA_MESSAGE(
| ^~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/include/boost/smart_ptr/detail/requires_cxx11.hpp:9,
from /usr/local/include/boost/smart_ptr/scoped_ptr.hpp:13,
from /usr/local/include/boost/scoped_ptr.hpp:13,
from /usr/local/include/boost/archive/detail/basic_oarchive.hpp:22,
from /usr/local/include/boost/archive/detail/common_oarchive.hpp:21,
from /usr/local/include/boost/archive/basic_text_oarchive.hpp:29,
from /usr/local/include/boost/archive/text_oarchive.hpp:31,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/serialization/archive.hpp:14,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/serialization/serializable.hpp:8,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/multibody/model.hpp:21,
from /home/rui/ocs2_ws/build/pinocchio/include/pinocchio/parsers/urdf.hpp:9,
from /home/rui/ocs2_ws/src/pinocchio/src/parsers/urdf/geometry.cpp:5:
/usr/local/include/boost/bind.hpp: At global scope:
/usr/local/include/boost/bind.hpp:36:1: note: ‘#pragma message: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.’
36 | BOOST_PRAGMA_MESSAGE(
| ^~~~~~~~~~~~~~~~~~~~
make[2]: *** [src/CMakeFiles/pinocchio.dir/build.make:66：src/CMakeFiles/pinocchio.dir/parsers/urdf/model.cpp.o] 错误 1
make[2]: *** [src/CMakeFiles/pinocchio.dir/build.make:79：src/CMakeFiles/pinocchio.dir/parsers/urdf/geometry.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:1329：src/CMakeFiles/pinocchio.dir/all] 错误 2
make: *** [Makefile:144：all] 错误 2
cd /home/rui/ocs2_ws/build/pinocchio; catkin build --get-env pinocchio | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -
...............................................................................
Failed << pinocchio:make [ Exited with code 2 ]
Failed <<< pinocchio [ 5.3 seconds ]
[build] Summary: 22 of 74 packages succeeded.
[build] Ignored: 9 packages were skipped or are skiplisted.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: 50 packages were abandoned.
[build] Failed: 2 packages failed.
[build] Runtime: 10.0 seconds total
