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Hi all,

I am trying to install sbpl from source because I have to make some changes to the CMakeLists.txt file so that it works on my ARM Processor Single board computer (see this). While installing sbpl from source, I ran following commands (from catkin_ws/src/) :

git clone https://github.com/sbpl/sbpl.git   
cd sbpl   
mkdir build   
cd build   
cmake ..   
make   
sudo make install

All the commands ran successfully but when I do roscd sbpl after it, the output is : roscd: No such package/stack 'sbpl'.

Update:
Also, I tried installing and using SBPL as a ROS package but that does not seem to be working:

git clone https://github.com/sbpl/sbpl.git  
rosmake sbpl # sbpl is in my ROS_PACKAGE_PATH

but I get the following output:

[ rosmake ] rosmake starting...                                                 
[ rosmake ] Packages requested are: ['sbpl']                                    
[ rosmake ] Logging to directory /home/naman/.ros/rosmake/rosmake_output-20150908-105307
[ rosmake ] Expanded args ['sbpl'] to:
[]                                       
[ rosmake ] WARNING: The following args could not be parsed as stacks or packages: ['sbpl']
[ rosmake ] ERROR: No arguments could be parsed into valid package or stack names.

Does anyone have any idea why is it still not able to find sbpl and what am I doing wrong?

Update 2:
So, I tried installing sbpl as a CMake Package (as mentioned above) and tried using it as a system dependency as suggested in the answer. When I do catkin_make in catkin_ws/ to build the sbpl_lattice_planner, I get the following error:

[ 97%] make[2]: *** No rule to make target `/opt/ros/indigo/lib/libsbpl.so', needed by `/home/naman/catkin_ws/devel/lib/libsbpl_lattice_planner.so'.  Stop.
make[1]: *** [dr_sbpl_planner/sbpl_lattice_planner/CMakeFiles/sbpl_lattice_planner.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

It looks like sbpl_lattice_planner is not able to find the necessary sbpl library and is throwing an error and hence its not able to run.

Update 3:
@gvdhoorn: I am using the fork you mentioned. My PKG_CONFIG_PATH is:

/home/naman/catkin_ws/devel/lib/pkgconfig:/home/naman/catkin_ws/devel/lib/x86_64-linux gnu/pkgconfig:/opt/ros/indigo/lib/x86_64-linux-gnu/pkgconfig:/opt/ros/indigo/lib/pkgconfig

Therefore, sbpl_lattice_planner looks for libsbpl.so in /opt/ros/indigo/lib and is not able to find it. Once, I build sbpl as mentioned above, it installs libsbpl.so in /usr/local/lib and sbpl.pc in /usr/local/lib/pkgconfig but its not in the PKG_CONFIG_PATH and therefore its not able to find the required files BUT even if I add /usr/local/lib/pkgconfig to PKG_CONFIG_PATH, it still looks for the file in /opt/ros/indigo/lib and hence gives the same error as mentioned above which is really confusing for me.

Just to check, I also tried copying libsbpl.so and sbpl.pc to /home/naman/catkin_ws/devel/lib/ and /home/naman/catkin_ws/devel/lib/pkgconfig respectively but again it always looks at /opt/ros/indigo/lib and throws an error.

And yeah, If I copy files to /opt/ros/indigo/lib and /opt/ros/indigo/lib/pkgconfig, it works without any error!

Update 4:

Why did you link to the original sbpl repository then in your question?

That was my mistake, sorry about that! I am using tu-darmstadt-ros-pkg fork.

The output of pkg-config --libs --cflags sbpl :

-I/usr/local/include  -L/usr/local/lib -lsbpl

and the output of PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH pkg-config --libs --cflags sbpl :

-I/usr/local/include  -L/usr/local/lib -lsbpl

And this is with the tu-darmstadt-ros-pkg fork?

Yes.. this is with the tu-darmstadt-ros-pkg fork!

Can you make sure those two lines (with find_library(..)) are present in the CMakeLists.txt of your sbpl_lattice_planner?

and yes, CMakeLists.txt of sbpl_lattice_planner has following lines:

find_library(SBPL_LIBRARY NAMES sbpl PATHS ${SBPL_LIBRARY_DIRS} NO_DEFAULT_PATH)  
set(SBPL_LIBRARIES ${SBPL_LIBRARY})

and the output after adding message("SBPL_LIBRARIES: ${SBPL_LIBRARIES}") is:

SBPL_LIBRARIES: /opt/ros/indigo/lib/libsbpl.so

Any help will be appreciated.

Thanks in advance.
Naman Kumar

Originally posted by Naman on ROS Answers with karma: 1464 on 2015-09-08

Post score: 3

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All the commands ran successfully but when I do roscd sbpl after it, the output is : roscd: No such package/stack 'sbpl' . Does anyone have any idea why is it still not able to find sbpl and what am I doing wrong?

Judging by the contents of the repository you linked, I'd say SBPL is not a catkin/rosbuild package, but a regular CMake package. The way you built and installed it also seems to point in that direction.

As such, you cannot roscd to it, as that only works with ROS packages.

Edit:

Also, I tried installing and using SBPL as a ROS package but that does not seem to be working

[..]

Does anyone have any idea why is it still not able to find sbpl and what am I doing wrong?

Yes: SBPL is still not a ROS package. You adding it to your ROS_PACKAGE_PATH and trying to build it using rosmake does not change that.

Afaict, SBPL is not meant to be a ROS package. It's used as a system dependency (see CMakeLists.txt - lines 13 to 15 of sbpl_lattice_planner).

Edit 2:

It looks like sbpl_lattice_planner is not able to find the necessary sbpl library and is throwing an error and hence its not able to run.

I'm pretty certain it should've worked after you sudo make installed your version of SBPL and then tried to build sbpl_lattice_planner from source (PkgConfig should've picked up your customised version, if you got the PKG_CONFIG_PATH setup correctly).

But looking at one of the forks (the tu-darmstadt-ros-pkg one) recommended to you in your other question about sbpl_lattice_planner, it could also be that CMake needs a little help determining the correct path to libsbpl.so (from here):

[..]
find_library(SBPL_LIBRARY NAMES sbpl PATHS ${SBPL_LIBRARY_DIRS} NO_DEFAULT_PATH)
set(SBPL_LIBRARIES ${SBPL_LIBRARY})
[..]

This snippet adds the full path to libsbpl.so, which then gets linked later on. Any reason you are not using this fork?

Btw: the error is not 'thrown' by sbpl_lattice_planner, but is reported by make. It just can't resolve the dependency on libsbpl.so needed for the sbpl_lattice_planner target.

Edit 3:

@gvdhoorn: I am using the fork you mentioned.

That would've nice to know before we started all this. Why did you link to the original sbpl repository then in your question?

My PKG_CONFIG_PATH is:

/home/naman/catkin_ws/devel/lib/pkgconfig:/home/naman/catkin_ws/devel/lib/x86_64-linux gnu/pkgconfig:/opt/ros/indigo/lib/x86_64-linux-gnu/pkgconfig:/opt/ros/indigo/lib/pkgconfig

Therefore, sbpl_lattice_planner looks for libsbpl.so in /opt/ros/indigo/lib and is not able to find it.

No. make can't find the library, sbpl_lattice_planner has not even been built yet. It is not involved here at all.

Please add the output of pkg-config --libs --cflags sbpl and PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH pkg-config --libs --cflags sbpl to your question. Both times after you've sourced your workspace.

Once, I build sbpl as mentioned above, it installs libsbpl.so in /usr/local/lib and sbpl.pc in /usr/local/lib/pkgconfig but its not in the PKG_CONFIG_PATH and therefore its not able to find the required files BUT even if I add /usr/local/lib/pkgconfig to PKG_CONFIG_PATH, it still looks for the file in /opt/ros/indigo/lib and hence gives the same error as mentioned above which is really confusing for me.

And this is with the tu-darmstadt-ros-pkg fork? Can you make sure those two lines (with find_library(..)) are present in the CMakeLists.txt of your sbpl_lattice_planner? Can you add:

message("SBPL_LIBRARIES: ${SBPL_LIBRARIES}")

right before the # Generate messages line and add the output of this in a new run of catkin_make to your question?

Edit 4:

and the output of PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH pkg-config --libs --cflags sbpl:

-I/usr/local/include  -L/usr/local/lib -lsbpl

I'm guessing you don't have ros-indigo-sbpl installed on that system?

Just to be sure: are you trying to cross-compile? Or are you building on your Jetson board itself?

As to the rest: I cannot reproduce this on my system. I've installed SBPL from the repository you linked (installs into /usr/local), then made sure there is a sbpl.pc in /usr/local/lib/pkgconfig.

Running catkin_make in a freshly created catkin workspace with just sbpl_lattice_planner in it returns the correct paths (ie: cmake finds sbpl in the right place). The planner pkg builds successfully.

The only thing that requires some care is when the system does have the ROS provided ros-indigo-sbpl installed. As PKG_CONFIG_PATH is set to /opt/ros/indigo/lib/pkgconfig, pkg-config will ignore the sbpl.pc in /usr/local/lib/pkgconfig. Explicitly setting PKG_CONFIG_PATH to have the /usr/local location first resolves this, and the from-source compiled SBPL will be found again.

In summary, this gets me a working sbpl_lattice_planner:

mkdir -p /tmp/sbpl_ws/src
cd /tmp/sbpl_ws/src
git clone https://github.com/tu-darmstadt-ros-pkg/sbpl_lattice_planner.git

cd /tmp/sbpl_ws
git clone https://github.com/sbpl/sbpl.git
# create build dir, config, make, sudo make install
# sbpl is now installed in '/usr/local'

source /opt/ros/indigo/setup.bash
export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH

catkin_make

# output here is (among other things)
SBPL_LIBRARIES: /usr/local/lib/libsbpl.so
SBPL_LIBRARY_DIRS: /usr/local/lib
SBPL_INCLUDE_DIRS: /usr/local/include

Originally posted by gvdhoorn with karma: 86574 on 2015-09-08

This answer was ACCEPTED on the original site

Post score: 3

Original comments

Comment by Naman on 2015-09-08:
Thanks for the answer @gvdhoorn! I have updated my original question where I tried installing SBPL as a ROS Package.

Comment by Naman on 2015-09-23:
@gvdhoorn! Yeah.. When I removed the build and the devel folder from my workspace and built all the packages including sbpl again, everything seems to be working. Thanks a lot! :)

Comment by non-conventional_stuff on 2016-09-02:
Hello Sir, Installed sbpl at /usr/local I did the following : export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH

I get the following error on $roslaunch sbpl_lattice_planner move_base_sbpl_fake_localization_2.5cm.launch ResourceNotFound : sbpl

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