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environment.md

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Setting Environment

gcc DSO Problem

Problem

 /usr/bin/ld: CMakeFiles/fakeio_node.dir/rclcpp_components/node_main_fakeio_node.cpp.o: undefined reference to symbol '_ZSt20__throw_length_errorPKc@@GLIBCXX_3.4'
 /usr/bin/ld: /lib/x86_64-linux-gnu/libstdc++.so.6: error adding symbols: DSO missing from command line

Solution

# remove and reinstall gcc 
sudo apt remove gcc-11
sudo apt remove build-essential
sudo apt autoremove
sudo apt install build-essential

Can't find NvInfer.h problem

Problem

fatal error: NvInfer.h: No such file or directory
   10 | #include <NvInfer.h>

Solution

# add the TensorRT include path in ~/.bashrc as follow
export CPATH=/usr/local/tensorrt/include:$CPATH

Can't find cuda/tensorrt in cmake

Problem

/usr/bin/ld:cannot find -lcuda: No such file or directory

Solution

# add the path to both ld_library_path and library_path
# wsl for example
export LIBRARY_PATH=/usr/lib/wsl/lib:$LIBRARY_PATH
export LD_LIBRARY_PATH=/usr/lib/wsl/lib:$LD_LIBRARY_PATH

gpg key error in change apt source list

Problem

W: GPG error: http://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 40976EAF437D05B5 NO_PUBKEY 3B4FE6ACC0B21F32
E: The repository 'http://mirrors.tuna.tsinghua.edu.cn/ubuntu xenial InRelease' is not signed.

Solution

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 40976EAF437D05B5
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 3B4FE6ACC0B21F32

May cause warning when run sudo apt update, which can be solved by the following commands.

cd /etc/apt
sudo cp trusted.gpg trusted.gpg.d