libsegwayrmp fails to compile on arm

[trainman419]

It looks like the included precompiled FTDI libraries aren't compiled for arm.

Full build log here:
http://vash.trainman.homelinux.net:8080/build/view/PbinArmhf/job/ros-groovy-libsegwayrmp_binarydeb_precise_armhf/1/console

[aeksiri]

Hi,

I have been trying to compile the libsegwayrmp on NVIDIA Jetson TK1 (Ubuntu 14.04)

I got this when I make:

$ make
:
:
Linking CXX executable ../bin/segwayrmp_gui
/usr/bin/ld: ../ftd2xx/linux/x32/libftd2xx.a(ftd2xx.o): Relocations in generic ELF (EM: 3)
/usr/bin/ld: ../ftd2xx/linux/x32/libftd2xx.a(ftd2xx.o): Relocations in generic ELF (EM: 3)
/usr/bin/ld: ../ftd2xx/linux/x32/libftd2xx.a(ftd2xx.o): Relocations in generic ELF (EM: 3)
/usr/bin/ld: ../ftd2xx/linux/x32/libftd2xx.a(ftd2xx.o): Relocations in generic ELF (EM: 3)
../ftd2xx/linux/x32/libftd2xx.a: error adding symbols: File in wrong format
:
:

And here is a full build log:

.....
mkdir -p bin
cd build && cmake  -DSEGWAYRMP_BUILD_EXAMPLES=1 ..
-- The C compiler identification is GNU 4.8.2
-- The CXX compiler identification is GNU 4.8.2
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   system
--   thread
-- Looking for Q_WS_X11
-- Looking for Q_WS_X11 - found
-- Looking for Q_WS_WIN
-- Looking for Q_WS_WIN - not found
-- Looking for Q_WS_QWS
-- Looking for Q_WS_QWS - not found
-- Looking for Q_WS_MAC
-- Looking for Q_WS_MAC - not found
-- Looking for include file pthread.h
-- Looking for include file pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Building SegwayRMP GUI
-- Building SegwayRMP Examples
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ubuntu/catkin_ws/libsegwayrmp/build
cd build && make
make[1]: Entering directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
make[2]: Entering directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
make[3]: Entering directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
Scanning dependencies of target segwayrmp
make[3]: Leaving directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
make[3]: Entering directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
[ 11%] Building CXX object CMakeFiles/segwayrmp.dir/src/segwayrmp.cc.o
[ 22%] Building CXX object CMakeFiles/segwayrmp.dir/src/impl/rmp_io.cc.o
[ 33%] Building CXX object CMakeFiles/segwayrmp.dir/src/impl/rmp_ftd2xx.cc.o
Linking CXX static library ../lib/libsegwayrmp.a
make[3]: Leaving directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
[ 33%] Built target segwayrmp
make[3]: Entering directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
Scanning dependencies of target segwayrmp_example
make[3]: Leaving directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
make[3]: Entering directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
[ 44%] Building CXX object CMakeFiles/segwayrmp_example.dir/examples/segwayrmp_example.cc.o
Linking CXX executable ../bin/segwayrmp_example
make[3]: Leaving directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
[ 44%] Built target segwayrmp_example
make[3]: Entering directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
[ 55%] Generating ui_segwayrmp_gui.h
[ 66%] Generating include/segwayrmp/gui/moc_segwayrmp_gui.cxx
Scanning dependencies of target segwayrmp_gui
make[3]: Leaving directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
make[3]: Entering directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
[ 77%] Building CXX object CMakeFiles/segwayrmp_gui.dir/src/gui/main.cc.o
[ 88%] Building CXX object CMakeFiles/segwayrmp_gui.dir/src/gui/segwayrmp_gui.cc.o
[100%] Building CXX object CMakeFiles/segwayrmp_gui.dir/include/segwayrmp/gui/moc_segwayrmp_gui.cxx.o
Linking CXX executable ../bin/segwayrmp_gui
/usr/bin/ld: ../ftd2xx/linux/x32/libftd2xx.a(ftd2xx.o): Relocations in generic ELF (EM: 3)
/usr/bin/ld: ../ftd2xx/linux/x32/libftd2xx.a(ftd2xx.o): Relocations in generic ELF (EM: 3)
/usr/bin/ld: ../ftd2xx/linux/x32/libftd2xx.a(ftd2xx.o): Relocations in generic ELF (EM: 3)
/usr/bin/ld: ../ftd2xx/linux/x32/libftd2xx.a(ftd2xx.o): Relocations in generic ELF (EM: 3)
../ftd2xx/linux/x32/libftd2xx.a: error adding symbols: File in wrong format
collect2: error: ld returned 1 exit status
make[3]: *** [../bin/segwayrmp_gui] Error 1
make[3]: Leaving directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
make[2]: *** [CMakeFiles/segwayrmp_gui.dir/all] Error 2
make[2]: Leaving directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/ubuntu/catkin_ws/libsegwayrmp/build'
make: *** [segwayrmp] Error 2

[wjwwood]

@aeksiri This is exactly what I would expect given @trainman419's comment.

[WeJay]

@aeksiri hello, Have you solved this problem yet? I build it on NVIDIA Jetson TX2 and meet the same problem.

[trainman419]

It's been over 5 years since I reported this, and almost 4 since the previous message. I'm pretty sure no one is actively working on this, because this package is simply not buildable on ARM.

If you can locate a precompiled ARM version of the ftdi libraries, maybe you can replace the x86 library with the ARM version and get this package working.

[WeJay]

@trainman419 thanks. I replace the x86 library with the ARM version, and it works.