Eigen3 Dependancy error

[subashg-nicn]

Can you share how did you manage to solve the "Eigen3" dependency error for "fcl"?

System Information:

• CPU: Ryzen 5000 Series, AMD64
• OS: Ubuntu 20.04
• ROS Version: noetic

I go the error as follows:

[akmandor]

It seems that either the "Eigen" or "fcl" library is not installed properly on your machine. Please make sure that you are following all steps in MANUAL_INSTALLATION, especially installing dependencies using rosdep tools:
rosdep install --from-paths src --ignore-src -r -y

Other than that you can:

• make sure that there is no instances of fcl, eigen in your /usr/local/ subfolders, since these libraries should be installed from source, not locally!
• install (and check) manually these libraries such as:
  -- sudo apt-get update -y
  -- sudo apt install libeigen3-dev
  -- sudo apt-get install -y libfcl-dev
• consider reinstalling ROS.

[subashg-nicn]

Thanks for you instructions, but none seem to work.

Instead I was able to run it by building the latest version of fcl (https://github.com/flexible-collision-library/fcl) library from source. It gave me the problem with the linking of -lnlopt as in the following line from CMakeLists.txt.

target_link_libraries(map_utility_server ${PCL_LIBRARIES} ${catkin_LIBRARIES} ${CHOLMOD_LIBRARY} nlopt ${TF_LIBRARIES} map_utility ${FCL_LIBRARIES})

I just removed "nlopt" and build with catkin. With that i was able to at least run the test launch successfully.

target_link_libraries(map_utility_server ${PCL_LIBRARIES} ${catkin_LIBRARIES} ${CHOLMOD_LIBRARY} ${TF_LIBRARIES} map_utility ${FCL_LIBRARIES})

I don't know what it will result when running other mode.