Cross compiling OSQP for DS1403

User Questions
1

Hi,

I was successful with cross-compiling for cards with spouses, however, I failed with osqp with the following error:

[ 97%] Built target osqpstatic
[ 98%] Building C object external/osqp/CMakeFiles/osqp_demo.dir/examples/osqp_demo.c.obj
[ 98%] Linking C executable out/osqp_demo
c:/program files/dspace rcphil 2024-a/compiler/linux_4.14_gcc_10.3/target/arm-linux-gnueabihf/bin/../lib/gcc/arm-linux-gnueabihf/10.3.0/../../../../arm-linux-gnueabihf/bin/ld.exe: out/libosqp.a(lib_handler.c.obj): in function `lh_load_lib':
lib_handler.c:(.text+0x10): undefined reference to `dlopen'
c:/program files/dspace rcphil 2024-a/compiler/linux_4.14_gcc_10.3/target/arm-linux-gnueabihf/bin/../lib/gcc/arm-linux-gnueabihf/10.3.0/../../../../arm-linux-gnueabihf/bin/ld.exe: lib_handler.c:(.text+0x38): undefined reference to `dlerror'
c:/program files/dspace rcphil 2024-a/compiler/linux_4.14_gcc_10.3/target/arm-linux-gnueabihf/bin/../lib/gcc/arm-linux-gnueabihf/10.3.0/../../../../arm-linux-gnueabihf/bin/ld.exe: out/libosqp.a(lib_handler.c.obj): in function `lh_unload_lib':
lib_handler.c:(.text+0xa8): undefined reference to `dlclose'
c:/program files/dspace rcphil 2024-a/compiler/linux_4.14_gcc_10.3/target/arm-linux-gnueabihf/bin/../lib/gcc/arm-linux-gnueabihf/10.3.0/../../../../arm-linux-gnueabihf/bin/ld.exe: out/libosqp.a(lib_handler.c.obj): in function `lh_load_sym':
lib_handler.c:(.text+0x134): undefined reference to `dlsym'
c:/program files/dspace rcphil 2024-a/compiler/linux_4.14_gcc_10.3/target/arm-linux-gnueabihf/bin/../lib/gcc/arm-linux-gnueabihf/10.3.0/../../../../arm-linux-gnueabihf/bin/ld.exe: lib_handler.c:(.text+0x13c): undefined reference to `dlerror'
c:/program files/dspace rcphil 2024-a/compiler/linux_4.14_gcc_10.3/target/arm-linux-gnueabihf/bin/../lib/gcc/arm-linux-gnueabihf/10.3.0/../../../../arm-linux-gnueabihf/bin/ld.exe: lib_handler.c:(.text+0x1a8): undefined reference to `dlsym'
c:/program files/dspace rcphil 2024-a/compiler/linux_4.14_gcc_10.3/target/arm-linux-gnueabihf/bin/../lib/gcc/arm-linux-gnueabihf/10.3.0/../../../../arm-linux-gnueabihf/bin/ld.exe: lib_handler.c:(.text+0x1b0): undefined reference to `dlerror'
collect2.exe: error: ld returned 1 exit status

OPUS MAKE: Shell line exit status 1. Stop.

OPUS MAKE: Shell line exit status 3. Stop.

OPUS MAKE: Shell line exit status 3. Stop.

Any idea how this can be fixed?

2

The undefined references being reported are used in the OSQP integration with the MKL Pardiso solver. When cross compiling, you won’t need MKL (or have it available). There is a CMake option in OSQP called ENABLE_MKL_PARDISO that you can set to off to disable this integration.

I believe you can just pass this on the standard ACADOS CMake command and OSQP will see it and disable the MKL integration.