cannot find -lddsc&ddscxx

[Sher1ockFan]

my system is ubuntu20.04
I have installed the unitreeSDK2 on my computer
the path is /usr/local/
but there is an error about cannot find -lddsc&ddscxx occurred

[juanjqo]

@Sher1ockFan I'm experiencing the same issue. Did you find a solution?

[webDrag0n]

Same issue here, the -lddsc error could be solved by apt install cyclonedds-dev. However the -lddscxx still remains unfound. So I'm suspecting the problem is somehow related to building procedure of cyclonedds or the environment variable.

The README instruction says something about setting CYCLONEDDS_HOME and CMAKE_PREFIX_PATH. Not sure what should be set to CMAKE_PREFIX_PATH though, and doesn't seems to find ddscxx in cyclonedds install folder.

[KanonWY]

I don't know if the maintainer of the repository made a deliberate mistake or is not familiar with modern cmake.The solutions to these errors are:

find_package(unitree_sdk2 REQUIRED)
include_directories(/usr/local/include/ddscxx /usr/local/include/iceoryx/v2.0.2)
# link_libraries(unitree_sdk2 ddsc ddscxx rt pthread)
link_libraries(unitree_sdk2 ddsc rt pthread)

The link_target method is no longer recommended.

[webDrag0n]

Thanks so much for the solution! It worked flawlessly.

[Sher1ockFan]

@Sher1ockFan I'm experiencing the same issue. Did you find a solution?

I found the installation path was wrong
It was /usr/local/lib/x86_64/ but it should be /usr/local/lib
So you can move libddsc.so and libddscxx.so to the correct path
sudo mv /usr/local/lib/x86_64/* /usr/local/lib/

[KanonWY]

It looks like a bug in the unitree_sdk2 cmake install script, there is a missing /, which causes the prefix. You can add this / and it will install to /usr/local/lib

My solution above may be wrong, but link_libraries is definitely not recommended. You can directly find_package and then use the transitivity of target_link_library to find the two missing libraries.

[liujieluv]

编译unitree_mujoco时出现，cannot find -lddsc&ddscxx #19

#查找libddscxx.so

locate libddscxx.so

#将libddscxx.so的位置链接到/usr/local/lib/libddscxx.so

sudo ln -s /home/liu/unitree_sdk2-main/thirdparty/lib/x86_64/libddscxx.so /usr/local/lib/libddscxx.so

locate libddsc.so

sudo ln -s /home/liu/unitree_sdk2-main/thirdparty/lib/x86_64/libddsc.so /usr/local/lib/libddsc.so

[wuyangning]

my system is ubuntu20.04 I have installed the unitreeSDK2 on my computer the path is /usr/local/ but there is an error about cannot find -lddsc&ddscxx occurred

The previous version of unitree_sdk2 was installed using install.sh. This method is no longer used in the new version. See https://github.com/unitreerobotics/unitree_sdk2. The installation paths of these two versions are inconsistent, resulting in compilation errors.
We have fixed this issue in the latest commit.