Linking error: Relocations in generic ELF (EM: 62) for bpmpd_linux64.a(bpmdll.o) in tesseract_ws/trajopt/trajopt_sco

[liuminL]

Problem Description

During the compilation of a project based on the tesseract_ws workspace, a linking error occurred. Specifically, when linking the bpmdll.o object file from the tesseract_ws/trajopt/trajopt_sco/3rdpartylib/bpmpd_linux64.a library, the linker (/usr/bin/ld) threw the error message: Relocations in generic ELF (EM: 62).

System and Environment Information

- Operating System: Ubuntu 22.04 LTS
- Architecture: AArch64
- Compiler: gcc version 11.4.0 (Ubuntu 11.4.0-1ubuntu1~22.04) 
- CMake Version: 3.22.1

Expected Solution

I hope to obtain or recompile the bpmpd library suitable for the AArch64 architecture to resolve the current architecture incompatibility issue, enabling the project to compile and run normally.

Thank you in advance for your support and guidance!

[rjoomen]

I can't help you with your issue specifically, but by default, Trajopt is using OSQP instead of BPMPD. So if you disable BPMPD support, you do not loose functionality (except if you specifically want to use that solver).

[Levi-Armstrong]

I do not think it is possible to leverage BPMPD on AArch64

[liuminL]

Thank you very much, I disabled this solver