mosek and gurobi don't work with xcode generator #4606

RussTedrake · 2016-12-26T00:52:12Z

both fail on the configure step in drake, with almost identical errors.

/Users/russt/drake-distro/cmake/packages.cmake(54):  find_package(mosek ${dfp_required} ${dfp_quiet} ${DFP_UNPARSED_ARGUMENTS} )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config-version.cmake(12):  set(PACKAGE_VERSION 7.1.0.45 )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config-version.cmake(14):  if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config-version.cmake(16):  else()
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config-version.cmake(18):  if(7.1.0.45 MATCHES ^([0-9]+)\\. )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config-version.cmake(19):  set(CVF_VERSION_MAJOR ${CMAKE_MATCH_1} )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config-version.cmake(24):  if(PACKAGE_FIND_VERSION_MAJOR STREQUAL CVF_VERSION_MAJOR )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config-version.cmake(26):  else()
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config-version.cmake(27):  set(PACKAGE_VERSION_COMPATIBLE FALSE )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config-version.cmake(30):  if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config-version.cmake(37):  if(${CMAKE_SIZEOF_VOID_P} STREQUAL  OR 8 STREQUAL  )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config-version.cmake(42):  if(NOT CMAKE_SIZEOF_VOID_P STREQUAL 8 )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(1):  cmake_minimum_required(VERSION 3.1 )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(8):  get_filename_component(PACKAGE_PREFIX_DIR ${CMAKE_CURRENT_LIST_DIR}/../../ ABSOLUTE )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(10):  macro(set_and_check _var _file )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(19):  include(CMakeFindDependencyMacro )
/usr/local/Cellar/cmake/3.7.0/share/cmake/Modules/CMakeFindDependencyMacro.cmake(20):  macro(find_dependency dep )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(21):  set(MOSEK_VERSION_MAJOR 7 )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(22):  set(MOSEK_VERSION_MINOR 1 )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(23):  set(MOSEK_VERSION_MINOR 0 )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(24):  set(MOSEK_VERSION_TWEAK 45 )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(25):  set(MOSEK_VERSION 7.1.0.45 )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(27):  find_dependency(Threads )
/usr/local/Cellar/cmake/3.7.0/share/cmake/Modules/CMakeFindDependencyMacro.cmake(21):  if(NOT Threads_FOUND )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(29):  set_and_check(MOSEK_INCLUDE_DIRS ${PACKAGE_PREFIX_DIR}/include/mosek )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(11):  set(MOSEK_INCLUDE_DIRS /Users/russt/drake-distro/xcode/install/include/mosek )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(12):  if(NOT EXISTS /Users/russt/drake-distro/xcode/install/include/mosek )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(30):  set_and_check(MOSEK_LIBRARY_DIRS ${PACKAGE_PREFIX_DIR}/lib )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(11):  set(MOSEK_LIBRARY_DIRS /Users/russt/drake-distro/xcode/install/lib )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(12):  if(NOT EXISTS /Users/russt/drake-distro/xcode/install/lib )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(31):  set(MOSEK_LIBRARIES mosek /usr/lib/libm.dylib Threads::Threads )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake(33):  include(${CMAKE_CURRENT_LIST_DIR}/mosek-c-targets.cmake )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-c-targets.cmake(6):  get_filename_component(PACKAGE_PREFIX_DIR ${CMAKE_CURRENT_LIST_DIR}/../../ ABSOLUTE )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-c-targets.cmake(10):  if(NOT TARGET Threads::Threads )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-c-targets.cmake(16):  if(NOT TARGET mosek )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-c-targets.cmake(17):  add_library(mosek SHARED IMPORTED )
/Users/russt/drake-distro/xcode/install/lib/mosek/mosek-c-targets.cmake(18):  set_target_properties(mosek PROPERTIES INTERFACE_LINK_LIBRARIES ${PACKAGE_PREFIX_DIR}/lib/libiomp5.dylib;/usr/lib/libm.dylib;Threads::Threads IMPORTED_LOCATION ${PACKAGE_PREFIX_DIR}/lib/libmosek64.7.1.dylib INTERFACE_INCLUDE_DIRECTORIES ${PACKAGE_PREFIX_DIR}/include/mosek )
/Users/russt/drake-distro/cmake/packages.cmake(58):  string(TOUPPER mosek dfp_package_upper )
/Users/russt/drake-distro/cmake/packages.cmake(60):  if(NOT mosek_FOUND AND FIND_PACKAGE_STRICT AND WITH_${dfp_package_upper} )
/Users/russt/drake-distro/cmake/packages.cmake(61):  message(FATAL_ERROR WITH_${dfp_package_upper} is enabled, but could NOT find mosek )
CMake Error at /Users/russt/drake-distro/cmake/packages.cmake:61 (message):
  WITH_MOSEK is enabled, but could NOT find mosek
Call Stack (most recent call first):
  /Users/russt/drake-distro/cmake/packages.cmake:148 (drake_find_package)
  CMakeLists.txt:15 (drake_find_packages)

The text was updated successfully, but these errors were encountered:

jamiesnape · 2016-12-27T15:13:57Z

They are working on the CI Xcode jobs: https://drake-jenkins.csail.mit.edu/view/Xcode/

Try

cd xcode
rm -rf gurobi-prefix mosek-prefix externals/gurobi externals/mosek
cmake .
xcodebuild

RussTedrake · 2016-12-27T15:36:48Z

same error.

only difference I can see is that my build folder is named xcode here (since I also have a make build)

jamiesnape · 2016-12-27T15:39:21Z

Try removing xcode/drake-prefix and xcode/drake also.

jamiesnape · 2016-12-27T15:42:04Z

The temporary workaround would be to add GENERATOR "Unix Makefiles" below the lines drake_add_external(gurobi CMAKE MATLAB and drake_add_external(mosek PUBLIC CMAKE MATLAB and above CMAKE_ARGS in the root CMakeLists.txt.

jamiesnape · 2016-12-27T16:25:53Z

I just reproduced the error with a build folder called xcode. I will work on a fix.

RussTedrake · 2016-12-27T16:30:36Z

it's strange that the cmake config files are clearly found (and parsed), but somehow gurobi_FOUND does not get set.

jamiesnape · 2016-12-27T17:12:27Z

@RussTedrake can you check that libmosek64.dylib and libgurobi60.so are installed to xcode/install/lib?

RussTedrake · 2016-12-27T17:57:03Z

yes. both are present.

RussTedrake · 2016-12-27T17:57:29Z

also just confirmed that it built ok when i made build the xcode build. that gets me unstuck for the moment.

jamiesnape · 2016-12-27T17:59:59Z

Can you send me the contents of the xcode/install/lib/gurobi and xcode/install/lib/mosek folders?

RussTedrake · 2016-12-27T18:19:21Z

no gurobi folder in install lib.

drake008% cat mosek/* > for_jamie.txt
drake008% pwd
/Users/russt/drake-distro/xcode/install/lib

drake008% ls
bot2-core							libdrakeRobotStateEncoder.dylib
ccd								libdrakeRobotStateLcmTypeUtil.dylib
cmake								libdrakeSchunkGripper.dylib
drake								libdrakeSchunkWsg.dylib
drakeConstructRigidBodyConstraint.mexmaci64			libdrakeSensors.dylib
drakeMexUtil.mexmaci64						libdrakeShapes.dylib
lcm								libdrakeSide.dylib
libBullet2FileLoader.2.83.dylib					libdrakeSplineGeneration.dylib
libBullet2FileLoader.dylib					libdrakeSpringMassSystemPlant.dylib
libBullet3Collision.2.83.dylib					libdrakeSystemAnalysis.dylib
libBullet3Collision.dylib					libdrakeSystemControllers.dylib
libBullet3Common.2.83.dylib					libdrakeSystemFramework.dylib
libBullet3Common.dylib						libdrakeSystemPrimitives.dylib
libBullet3Dynamics.2.83.dylib					libdrakeTrajectories.dylib
libBullet3Dynamics.dylib					libdrakeTrajectoryOptimization.dylib
libBullet3Geometry.2.83.dylib					libdrakeXMLUtil.dylib
libBullet3Geometry.dylib					libdrakeYAMLUtil.dylib
libBullet3OpenCL_clew.2.83.dylib				libdrakeZMPPlanner.dylib
libBullet3OpenCL_clew.dylib					libdrakeZMPTestUtil.dylib
libBulletCollision.2.83.dylib					libdrakeZMPUtil.dylib
libBulletCollision.dylib					libdrake_lcmtypes.dylib
libBulletDynamics.2.83.dylib					libf2c
libBulletDynamics.dylib						libf2c.a
libBulletInverseDynamics.2.83.dylib				libfcl.0.6.0.dylib
libBulletInverseDynamics.dylib					libfcl.0.6.dylib
libBulletSoftBody.2.83.dylib					libfcl.dylib
libBulletSoftBody.dylib						libgflags.2.2.0.dylib
libLinearMath.2.83.dylib					libgflags.2.2.dylib
libLinearMath.dylib						libgflags.dylib
libPythonQt.dylib						libgmock.dylib
libQtPropertyBrowser.dylib					libgmock_main.dylib
libbot2-core.1.dylib						libgtest.dylib
libbot2-core.dylib						libgtest_main.dylib
libbot2-lcmgl-client.1.dylib					libgurobi60.so
libbot2-lcmgl-client.dylib					libgurobi_c++.a
libbot2-lcmgl-renderer.1.dylib					libgurobi_g++4.2.a
libbot2-lcmgl-renderer.dylib					libiomp5.dylib
libbot2-param-client.1.dylib					liblcm-static.a
libbot2-param-client.dylib					liblcm.1.3.1.dylib
libccd.2.0.dylib						liblcm.1.3.95.dylib
libccd.2.dylib							liblcm.1.dylib
libccd.dylib							liblcm.a
libctkPythonConsole.1.0.dylib					liblcm.dylib
libctkPythonConsole.dylib					liblcmtypes_bot2-core.a
libddApp.dylib							liblcmtypes_bot2-core.dylib
libdrakeActuatorEffortToRigidBodyPlantInputConverter.dylib	liblcmtypes_bot2-lcmgl.a
libdrakeAtlasUtil.dylib						liblcmtypes_bot2-param.a
libdrakeAutomotive.dylib					liblcmtypes_bot2-procman.a
libdrakeAutomotiveLcm.dylib					libmosek64.7.1.dylib
libdrakeBouncingBall.dylib					libmosek64.dylib
libdrakeCollision.dylib						libmosekglb64.7.1.dylib
libdrakeCommon.dylib						libmosekjava7_1.jnilib
libdrakeControlUtil.dylib					libmosekscopt7_1.dylib
libdrakeControlledSpringMassSystemPlant.dylib			libmosekxx7_1.dylib
libdrakeConvexHull.dylib					libnlopt.0.9.0.dylib
libdrakeDynamicConstraint.dylib					libnlopt.0.dylib
libdrakeEstimators.dylib					libnlopt.dylib
libdrakeGeometryUtil.dylib					liboctomap.1.8.0.dylib
libdrakeHsrb.dylib						liboctomap.1.8.dylib
libdrakeIK.dylib						liboctomap.a
libdrakeIKoptions.dylib						liboctomap.dylib
libdrakeJoints.dylib						liboctomath.1.8.0.dylib
libdrakeKukaIiwaArm.dylib					liboctomath.1.8.dylib
libdrakeKukaIiwaArmCommon.dylib					liboctomath.a
libdrakeKukaIiwaWorld.dylib					liboctomath.dylib
libdrakeLCMSystem.dylib						librobotlocomotion-lcmtypes.dylib
libdrakeLCMSystem2.dylib					libsnopt_c.a
libdrakeLCMUtil.dylib						libspruce.dylib
libdrakeLcm.dylib						libtinyxml2.dylib
libdrakeLinearControl.dylib					libvtkDRCFilters.dylib
libdrakeMath.dylib						libvtkDRCFiltersPythonD.dylib
libdrakeMultibodyParsers.dylib					libyaml-cpp.0.5.3.dylib
libdrakeOptimization.dylib					libyaml-cpp.0.5.dylib
libdrakePendulumPlant.dylib					libyaml-cpp.dylib
libdrakeQPLocomotionPlan.dylib					mosek
libdrakeRBM.dylib						pkgconfig
libdrakeRBSystem.dylib						python2.7
libdrakeRigidBodyConstraint.dylib				rbmMexFunctions.mexmaci64
libdrakeRigidBodyPlant.dylib					robotlocomotion-lcmtypes
libdrakeRobotCommandToDesiredEffortConverter.dylib		snopt
libdrakeRobotStateDecoder.dylib

for_jamie.txt

jamiesnape · 2016-12-27T18:27:04Z

Everything looks good for mosek from those files. Can you add the NO_QUIET argument to drake_find_package() here

https://github.com/RobotLocomotion/drake/blob/master/cmake/packages.cmake#L148

and send me any output relating to mosek?

RussTedrake · 2016-12-27T18:30:21Z

gurobi get's hit first:

drake008% cmake .
CMake Warning at /Users/russt/drake-distro/cmake/packages.cmake:54 (find_package):
  Found package configuration file:

    /Users/russt/drake-distro/xcode/install/lib/cmake/gurobi/gurobi-config.cmake

  but it set gurobi_FOUND to FALSE so package "gurobi" is considered to be
  NOT FOUND.
Call Stack (most recent call first):
  /Users/russt/drake-distro/cmake/packages.cmake:144 (drake_find_package)
  CMakeLists.txt:15 (drake_find_packages)

RussTedrake · 2016-12-27T18:31:00Z

same for mosek (after moving it ahead of gurobi in that list)

drake008% cmake .
CMake Warning at /Users/russt/drake-distro/cmake/packages.cmake:54 (find_package):
  Found package configuration file:

    /Users/russt/drake-distro/xcode/install/lib/mosek/mosek-config.cmake

  but it set mosek_FOUND to FALSE so package "mosek" is considered to be NOT
  FOUND.
Call Stack (most recent call first):
  /Users/russt/drake-distro/cmake/packages.cmake:144 (drake_find_package)
  CMakeLists.txt:15 (drake_find_packages)

RussTedrake · 2016-12-27T18:36:05Z

also confirmed that I get to the end of gurobi-config.cmake (a status message prints fine there).

jamiesnape · 2017-01-05T23:20:38Z

Can you try the setup I am using at the moment?

mkdir cmake-build-xcode
cd cmake-build-xcode
cmake -DWITH_GUROBI=ON -DWITH_MOSEK=ON -GXcode ..
xcodebuild

If that does not work, can you check out a fresh clone of drake and try the same there?

david-german-tri · 2017-04-11T14:55:06Z

Closing as wontfix since no one is using xcode anymore TTBOMK.

RussTedrake added configuration: mac priority: high unused team: kitware labels Dec 26, 2016

RussTedrake assigned jamiesnape Dec 26, 2016

RussTedrake added priority: low and removed priority: high labels Dec 27, 2016

RussTedrake mentioned this issue Jan 5, 2017

BUILD file in drake-distro root conflicts with "from source" instructions #4693

Closed

jamiesnape added configuration: cmake unused configuration: xcode This configuration is no longer active within this repository. labels Apr 6, 2017

david-german-tri closed this as completed Apr 11, 2017

jamiesnape removed their assignment Jun 22, 2021

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mosek and gurobi don't work with xcode generator #4606

mosek and gurobi don't work with xcode generator #4606

RussTedrake commented Dec 26, 2016

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david-german-tri commented Apr 11, 2017

mosek and gurobi don't work with xcode generator #4606

mosek and gurobi don't work with xcode generator #4606

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