I had this error with cortex_control package when building the ros_workspace for Isaac and solved it

Omniverse Isaac Sim
1

Hello everyone,

I had this yaml-cpp related error when building the ros_workspace of Isaac sim

/usr/bin/ld: /usr/local/lib/libyaml-cpp.a(convert.cpp.o): relocation R_X86_64_PC32 against symbol `_ZN4YAML11InvalidNodeC1ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: final link failed: Bad value
collect2: error: ld returned 1 exit status
make[2]: *** [/home/mohamed/.local/share/ov/pkg/isaac_sim-2022.1.0/ros_workspace/devel/.private/cortex_control/lib/libcortex_control.so] Error 1
make[1]: *** [CMakeFiles/cortex_control.dir/all] Error 2
make: *** [all] Error 2

It is a linking error, and as shown in the error message, yaml-cpp should use the -fPIC option.

The way I solved it is by installing yaml-cpp from source and used the required flag as follows

git clone https://github.com/jbeder/yaml-cpp.git
cd yaml-cpp
env CFLAGS='-fPIC' CXXFLAGS='-fPIC' cmake -DCMAKE_BUILD_TYPE=Release
cmake --build build -v
make install

This solved the above error with the cortex_control when building the ros_workspace.

I hope this will help someone who encounters the same error.

Best,

1 Like
4

Thanks a lot this helped us with build failures in isaac ros packages with latest updates which incorporated yaml cpp.

Just the build directions above didn’t work for us, we did it as follows:

git clone https://github.com/jbeder/yaml-cpp.git
cd yaml-cpp
env CFLAGS='-fPIC' CXXFLAGS='-fPIC' cmake -DCMAKE_BUILD_TYPE=Release
mkdir build
cd build
cmake ..
make install