ubuntu(20):A required package was not found cmake/FindIPOPT.cmake:3 (pkg_check_modules)

前言这篇博客解决一个通用性问题：利用cmake编译c++工作空间时，错把一些用的比较多的、比较知名的库当做“包”，导致编译错误，下面以ipopt为例。报错安装完ipopt库后，编译自己的包报错，找不到ipopt这个“包”，报错如下：A required package was not found cmake/FindIPOPT.cmake:3 (pkg_check_modules)Errors&l

biter0088

4271人浏览 · 2022-04-28 23:01:33

biter0088 · 2022-04-28 23:01:33 发布

前言

这篇博客解决一个通用性问题：利用cmake编译c++工作空间时，错把一些用的比较多的、比较知名的库当做“包”，导致编译错误，下面以ipopt为例。

报错
安装完ipopt库后，编译自己的包报错，找不到ipopt这个“包”，报错如下：
A required package was not found ... cmake/FindIPOPT.cmake:3 (pkg_check_modules)

Errors     << path_tracking:check /home/bit/test/logs/path_tracking/build.check.000.log                                                                                                                                                                                           
CMake Error at /usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:419 (message):
  A required package was not found
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:597 (_pkg_check_modules_internal)
  cmake/FindIPOPT.cmake:3 (pkg_check_modules)
  CMakeLists.txt:19 (find_package)


make: *** [cmake_check_build_system] Error 1
cd /home/bit/test/build/path_tracking; catkin build --get-env path_tracking | catkin env -si  /usr/bin/make cmake_check_build_system; cd -
..................................................................................................................................................................................................................................................................................
Failed     << path_tracking:check                  [ Exited with code 2 ]                                                                                                                                                                                                         
Failed    <<< path_tracking                        [ 3.1 seconds ]                                                                                                                                                                                                                
[build] Summary: 8 of 9 packages succeeded.                                                                                                                                                                                                                                       
[build]   Ignored:   49 packages were skipped or are blacklisted.                                                                                                                                                                                                                 
[build]   Warnings:  None.                                                                                                                                                                                                                                                        
[build]   Abandoned: None.                                                                                                                                                                                                                                                        
[build]   Failed:    1 packages failed.                                                                                                                                                                                                                                           
[build] Runtime: 11.4 seconds total.

其中：CMakeLists.txt中配置ipopt如下：

find_package(IPOPT REQUIRED) #hxz

target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${IPOPT_LIBRARIES} ${controllib_LIBRARIES})#hxz

报错原因：
ipopt是一个非线性优化库，即库文件，不是ros的package，自然不能够被当做包被找到；只要把ipopt对应的库文件在CMakeLists.txt中配置好即可

修改如下：

#find_package(IPOPT REQUIRED) #hxz
#target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${IPOPT_LIBRARIES} ${controllib_LIBRARIES})#hxz
target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${controllib_LIBRARIES} /usr/lib/libipoptamplinterface.so.1 /usr/local/lib/libipoptamplinterface.so.0 /usr/local/lib/libipoptamplinterface.so /usr/lib/libipoptamplinterface.so /usr/lib/libipopt.so.1 /usr/local/lib/libipopt.so.0 /usr/local/lib/libipopt.so /usr/lib/libipopt.so)

（1）注释掉find_package()
（2）将${controllib_LIBRARIES}替换为对应的ipopt库文件，这些库文件可以通过下面命令查找：

ldconfig -p | grep libipopt

（注：复制右边的绝对路径即可）

bit@ubuntu:~$ ldconfig -p | grep libipopt
	libipoptamplinterface.so.1 (libc6,AArch64) => /usr/lib/libipoptamplinterface.so.1
	libipoptamplinterface.so.0 (libc6,AArch64) => /usr/local/lib/libipoptamplinterface.so.0
	libipoptamplinterface.so (libc6,AArch64) => /usr/local/lib/libipoptamplinterface.so
	libipoptamplinterface.so (libc6,AArch64) => /usr/lib/libipoptamplinterface.so
	libipopt.so.1 (libc6,AArch64) => /usr/lib/libipopt.so.1
	libipopt.so.0 (libc6,AArch64) => /usr/local/lib/libipopt.so.0
	libipopt.so (libc6,AArch64) => /usr/local/lib/libipopt.so
	libipopt.so (libc6,AArch64) => /usr/lib/libipopt.so