drake ImportError: libmosek64.so.9.3:无法打开共享对象文件:没有这样的文件或目录
在成功编译drake_cxx_python之后，我得到了python3 -c 'import pydrake.all; print(pydrake.__file__)'的输出
Traceback (most recent call last):
File "<string>", line 1, in <module>
File "/home/dmitriy/git/drake-build/install/lib/python3.8/site-packages/pydrake/all.py", line 31, in <module>
from .autodiffutils import *
ImportError: libmosek64.so.9.3: cannot open shared object file: No such file or directory我使用以下命令序列：
rm -rfv drake-build
git clone https://github.com/RobotLocomotion/drake.git
mkdir drake-build
cd drake-build
cmake -DWITH_GUROBI=ON -DWITH_MOSEK=ON ../drake
../drake/setup/ubuntu/source_distribution/install_prereqs_user_environment.sh
make -j4接下来，我通过将PATH添加到/.bashrc文件中来指定它：
#drake
cd ~/git/drake-build/
export PYTHONPATH=${PWD}/install/lib/python3.8/site-packages:${PYTHONPATH}
cdsudo python3 -c 'import pydrake.all; print(pydrake.__file__)'输出
Traceback (most recent call last):
File "<string>", line 1, in <module>
ModuleNotFoundError: No module named 'pydrake'我安装了Mosek，使用它：使用说明
ldd install/lib/python3.8/site-packages/pydrake/solvers/__init__.cpython-38-x86_64-linux-gnu.so | grep -i mosek输出
libmosek64.so.9.3 => not found
libmosek64.so.9.2 => not foundreadelf -d install/lib/python3.8/site-packages/pydrake/solvers/__init__.cpython-38-x86_64-linux-gnu.so | grep -i path输出
0x000000000000001d (RUNPATH) Library runpath: [/usr/lib/x86_64-linux-gnu/lapack/:/usr/lib/x86_64-linux-gnu/blas/]同时，还有一个文件libmosek64.so.9.3*
~/git/drake-build/install/lib$ l -a
./
../
cmake/
libcilkrts.so.5*
libddApp.so*
libdrake_ibex.so*
libdrake_lcm.so*
libdrake_marker.so*
libdrake.so*
libgurobi95.so@
libgurobi.so.9.5.1*
libmosek64.so.9.3*为什么它看不见？
我尝试使用pip安装drake，并得到了相同的错误：python3 -c 'import pydrake.all; print(pydrake.__file__)'的输出
Traceback (most recent call last):
File "<string>", line 1, in <module>
File "/home/dmitriy/git/drake-build/install/lib/python3.8/site-packages/pydrake/all.py", line 31, in <module>
from .autodiffutils import *
ImportError: libmosek64.so.9.3: cannot open shared object file: No such file or directoryStack Overflow用户
发布于 2022-08-04 21:28:59
我不知道为什么你看到两个版本的MOSEK要求。您是否一次又一次地将Drake安装在同一个install文件夹中？这不是CMake的工作方式。使用CMake时，您需要在重新运行任何安装之前将rm -rf安装文件夹。否则，它永远不会清理任何旧文件，它们可能会破坏安装。特别是，这可能是https://github.com/RobotLocomotion/drake/issues/14224。
https://stackoverflow.com/questions/73219153
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