some traning problem #2

zy-cuhk · 2024-03-18T13:33:05Z

when I try to obtain some traning data by
(1) running "python3 sample_on_single_map.py", one bug occurs "[Open3D WARNING] Read PCD failed: unable to open file: datasets/single_map_dataset/map.pcd"
(2) running "python3 sample_trajs.py:, another bug occurs "File "sample_trajs.py", line 8, in from utils.bilevel_traj_opt import BiLevelTrajOpt ModuleNotFoundError: No module named 'utils.bilevel_traj_opt'", I try to find the script file named bileve_traj_opt under the repositry of "util", however, I did not find it out.

So, please help me with the above two problem and thank you !

yuwei-wu · 2024-03-23T17:35:02Z

These two files are not used to generate the dataset.
For maps, you can refer to: https://github.com/KumarRobotics/kr_param_map to generate your own .pcd files
For trajectories, please refer to: https://github.com/ZJU-FAST-Lab/GCOPTER to generate sample trajectories.

We will update a guideline for dataset generation later.

kashifzr · 2024-06-06T06:14:05Z

@yuwei-wu i am unable to build your package, the issue is specific to libtorch directory inside planner, where codes makes compile errors, I did attached some issue to figure out the problems,

/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h: In substitution of ‘template<class T> decltype ((T::hash(o), size_t())) c10::_hash_detail::dispatch_hash(const T&) [with T = unsigned int]’:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:295:39:   required from ‘size_t c10::hash<T>::operator()(const T&) const [with T = unsigned int; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:354:24:   required from ‘size_t c10::_hash_detail::simple_get_hash(const T&) [with T = unsigned int; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:306:40:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<idx, Ts>::operator()(const std::tuple<_Args2 ...>&) const [with long unsigned int idx = 1; Ts = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:319:56:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::operator()(const std::tuple<_Tps ...>&) const [with Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:368:50:   required from ‘size_t c10::get_hash(const Types& ...) [with Types = {std::shared_ptr<torch::autograd::Node>, unsigned int}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/autograd/edge.h:53:54:   required from here
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:51: error: ‘hash’ is not a member of ‘unsigned int’
  285 | auto dispatch_hash(const T& o) -> decltype(T::hash(o), size_t()) {
      |                                            ~~~~~~~^~~
In file included from /usr/include/c++/9/ext/alloc_traits.h:36,
                 from /usr/include/c++/9/bits/stl_tree.h:67,
                 from /usr/include/c++/9/set:60,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/root_finder.hpp:31,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/trajectory.hpp:28,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/visualizer.hpp:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/src/learning_planning.cpp:1:
/usr/include/c++/9/bits/alloc_traits.h: In instantiation of ‘static std::allocator_traits<std::allocator<_Tp1> >::size_type std::allocator_traits<std::allocator<_Tp1> >::max_size(const allocator_type&) [with _Tp = void; std::allocator_traits<std::allocator<_Tp1> >::size_type = long unsigned int; std::allocator_traits<std::allocator<_Tp1> >::allocator_type = std::allocator<void>]’:
/usr/include/c++/9/bits/stl_vector.h:1780:51:   required from ‘static std::vector<_Tp, _Alloc>::size_type std::vector<_Tp, _Alloc>::_S_max_size(const _Tp_alloc_type&) [with _Tp = void; _Alloc = std::allocator<void>; std::vector<_Tp, _Alloc>::size_type = long unsigned int; std::vector<_Tp, _Alloc>::_Tp_alloc_type = std::allocator<void>]’
/usr/include/c++/9/bits/stl_vector.h:921:27:   required from ‘std::vector<_Tp, _Alloc>::size_type std::vector<_Tp, _Alloc>::max_size() const [with _Tp = void; _Alloc = std::allocator<void>; std::vector<_Tp, _Alloc>::size_type = long unsigned int]’
/usr/include/c++/9/bits/vector.tcc:69:23:   required from ‘void std::vector<_Tp, _Alloc>::reserve(std::vector<_Tp, _Alloc>::size_type) [with _Tp = void; _Alloc = std::allocator<void>; std::vector<_Tp, _Alloc>::size_type = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/functional.h:20:3:   required from ‘std::vector<decltype (fn((* inputs.begin())))> c10::fmap(const T&, const F&) [with F = torch::jit::Object::get_properties() const::<lambda(c10::ClassType::Property)>; T = std::vector<c10::ClassType::Property>; decltype (fn((* inputs.begin()))) = void]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/api/object.h:153:6:   required from here
/usr/include/c++/9/bits/alloc_traits.h:505:20: error: ‘const allocator_type’ {aka ‘const class std::allocator<void>’} has no member named ‘max_size’
  505 |       { return __a.max_size(); }
      |                ~~~~^~~~~~~~
In file included from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/Dict_inl.h:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/Dict.h:397,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/ivalue_inl.h:8,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/ivalue.h:1555,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/List_inl.h:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/List.h:490,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/IListRef_inl.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/IListRef.h:631,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/DeviceGuard.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/ATen.h:9,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/api/include/torch/types.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/script.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/planner/learning_planner.hpp:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/src/learning_planning.cpp:10:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h: In instantiation of ‘size_t c10::hash<T>::operator()(const T&) const [with T = double; size_t = long unsigned int]’:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:354:24:   required from ‘size_t c10::_hash_detail::simple_get_hash(const T&) [with T = double; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:306:40:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<idx, Ts>::operator()(const std::tuple<_Args2 ...>&) const [with long unsigned int idx = 1; Ts = {const double&, const double&}; Types = {const double&, const double&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:319:56:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::operator()(const std::tuple<_Tps ...>&) const [with Types = {const double&, const double&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:368:50:   required from ‘size_t c10::get_hash(const Types& ...) [with Types = {double, double}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:375:20:   required from ‘size_t c10::hash<c10::complex<U> >::operator()(const c10::complex<U>&) const [with T = double; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/Dict_inl.h:48:70:   required from here
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:295:39: error: no matching function for call to ‘dispatch_hash(const double&)’
  295 |     return _hash_detail::dispatch_hash(o);
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:273:6: note: candidate: ‘template<class T> decltype (((std::hash<_Tp>()(o), <expression error>), <expression error>)) c10::_hash_detail::dispatch_hash(const T&)’
  273 | auto dispatch_hash(const T& o)
      |      ^~~~~~~~~~~~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:273:6: note:   template argument deduction/substitution failed:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:6: note: candidate: ‘template<class T> decltype ((T::hash(o), size_t())) c10::_hash_detail::dispatch_hash(const T&)’
  285 | auto dispatch_hash(const T& o) -> decltype(T::hash(o), size_t()) {
      |      ^~~~~~~~~~~~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:6: note:   template argument deduction/substitution failed:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h: In substitution of ‘template<class T> decltype ((T::hash(o), size_t())) c10::_hash_detail::dispatch_hash(const T&) [with T = double]’:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:295:39:   required from ‘size_t c10::hash<T>::operator()(const T&) const [with T = double; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:354:24:   required from ‘size_t c10::_hash_detail::simple_get_hash(const T&) [with T = double; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:306:40:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<idx, Ts>::operator()(const std::tuple<_Args2 ...>&) const [with long unsigned int idx = 1; Ts = {const double&, const double&}; Types = {const double&, const double&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:319:56:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::operator()(const std::tuple<_Tps ...>&) const [with Types = {const double&, const double&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:368:50:   required from ‘size_t c10::get_hash(const Types& ...) [with Types = {double, double}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:375:20:   required from ‘size_t c10::hash<c10::complex<U> >::operator()(const c10::complex<U>&) const [with T = double; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/Dict_inl.h:48:70:   required from here
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:51: error: ‘hash’ is not a member of ‘double’
  285 | auto dispatch_hash(const T& o) -> decltype(T::hash(o), size_t()) {
      |                                            ~~~~~~~^~~
In file included from /usr/include/c++/9/bits/stl_tempbuf.h:60,
                 from /usr/include/c++/9/bits/stl_algo.h:62,
                 from /usr/include/c++/9/algorithm:62,
                 from /usr/include/eigen3/Eigen/Core:288,
                 from /usr/include/eigen3/Eigen/Dense:1,
                 from /usr/include/eigen3/Eigen/Eigen:1,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/root_finder.hpp:32,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/trajectory.hpp:28,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/visualizer.hpp:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/src/learning_planning.cpp:1:
/usr/include/c++/9/bits/stl_construct.h: In instantiation of ‘void std::_Construct(_T1*, _Args&& ...) [with _T1 = at::Tensor; _Args = {}]’:
/usr/include/c++/9/bits/stl_uninitialized.h:545:18:   required from ‘static _ForwardIterator std::__uninitialized_default_n_1<_TrivialValueType>::__uninit_default_n(_ForwardIterator, _Size) [with _ForwardIterator = at::Tensor*; _Size = long unsigned int; bool _TrivialValueType = false]’
/usr/include/c++/9/bits/stl_uninitialized.h:601:20:   required from ‘_ForwardIterator std::__uninitialized_default_n(_ForwardIterator, _Size) [with _ForwardIterator = at::Tensor*; _Size = long unsigned int]’
/usr/include/c++/9/bits/stl_uninitialized.h:663:44:   required from ‘_ForwardIterator std::__uninitialized_default_n_a(_ForwardIterator, _Size, std::allocator<_Tp>&) [with _ForwardIterator = at::Tensor*; _Size = long unsigned int; _Tp = at::Tensor]’
/usr/include/c++/9/bits/stl_vector.h:1603:36:   required from ‘void std::vector<_Tp, _Alloc>::_M_default_initialize(std::vector<_Tp, _Alloc>::size_type) [with _Tp = at::Tensor; _Alloc = std::allocator<at::Tensor>; std::vector<_Tp, _Alloc>::size_type = long unsigned int]’
/usr/include/c++/9/bits/stl_vector.h:509:9:   required from ‘std::vector<_Tp, _Alloc>::vector(std::vector<_Tp, _Alloc>::size_type, const allocator_type&) [with _Tp = at::Tensor; _Alloc = std::allocator<at::Tensor>; std::vector<_Tp, _Alloc>::size_type = long unsigned int; std::vector<_Tp, _Alloc>::allocator_type = std::allocator<at::Tensor>]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/ExpandUtils.h:436:46:   required from here
/usr/include/c++/9/bits/stl_construct.h:75:7: error: use of deleted function ‘at::Tensor::Tensor()’
   75 |     { ::new(static_cast<void*>(__p)) _T1(std::forward<_Args>(__args)...); }
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/Dict_inl.h:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/Dict.h:397,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/ivalue_inl.h:8,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/ivalue.h:1555,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/List_inl.h:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/List.h:490,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/IListRef_inl.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/core/IListRef.h:631,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/DeviceGuard.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/ATen/ATen.h:9,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/api/include/torch/types.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/script.h:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/planner/learning_planner.hpp:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/src/learning_planning.cpp:10:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h: In instantiation of ‘size_t c10::hash<T>::operator()(const T&) const [with T = std::shared_ptr<torch::autograd::Node>; size_t = long unsigned int]’:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:354:24:   required from ‘size_t c10::_hash_detail::simple_get_hash(const T&) [with T = std::shared_ptr<torch::autograd::Node>; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:314:43:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<0, Ts ...>::operator()(const std::tuple<_Args1 ...>&) const [with Ts = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:307:39:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<idx, Ts>::operator()(const std::tuple<_Args2 ...>&) const [with long unsigned int idx = 1; Ts = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:319:56:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::operator()(const std::tuple<_Tps ...>&) const [with Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:368:50:   required from ‘size_t c10::get_hash(const Types& ...) [with Types = {std::shared_ptr<torch::autograd::Node>, unsigned int}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/autograd/edge.h:53:54:   required from here
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:295:39: error: no matching function for call to ‘dispatch_hash(const std::shared_ptr<torch::autograd::Node>&)’
  295 |     return _hash_detail::dispatch_hash(o);
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:273:6: note: candidate: ‘template<class T> decltype (((std::hash<_Tp>()(o), <expression error>), <expression error>)) c10::_hash_detail::dispatch_hash(const T&)’
  273 | auto dispatch_hash(const T& o)
      |      ^~~~~~~~~~~~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:273:6: note:   template argument deduction/substitution failed:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:6: note: candidate: ‘template<class T> decltype ((T::hash(o), size_t())) c10::_hash_detail::dispatch_hash(const T&)’
  285 | auto dispatch_hash(const T& o) -> decltype(T::hash(o), size_t()) {
      |      ^~~~~~~~~~~~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:6: note:   template argument deduction/substitution failed:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h: In substitution of ‘template<class T> decltype ((T::hash(o), size_t())) c10::_hash_detail::dispatch_hash(const T&) [with T = std::shared_ptr<torch::autograd::Node>]’:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:295:39:   required from ‘size_t c10::hash<T>::operator()(const T&) const [with T = std::shared_ptr<torch::autograd::Node>; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:354:24:   required from ‘size_t c10::_hash_detail::simple_get_hash(const T&) [with T = std::shared_ptr<torch::autograd::Node>; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:314:43:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<0, Ts ...>::operator()(const std::tuple<_Args1 ...>&) const [with Ts = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:307:39:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::tuple_hash<idx, Ts>::operator()(const std::tuple<_Args2 ...>&) const [with long unsigned int idx = 1; Ts = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:319:56:   required from ‘size_t c10::hash<std::tuple<_Tps ...> >::operator()(const std::tuple<_Tps ...>&) const [with Types = {const std::shared_ptr<torch::autograd::Node>&, const unsigned int&}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:368:50:   required from ‘size_t c10::get_hash(const Types& ...) [with Types = {std::shared_ptr<torch::autograd::Node>, unsigned int}; size_t = long unsigned int]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/autograd/edge.h:53:54:   required from here
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/c10/util/hash.h:285:51: error: ‘hash’ is not a member of ‘std::shared_ptr<torch::autograd::Node>’
  285 | auto dispatch_hash(const T& o) -> decltype(T::hash(o), size_t()) {
      |                                            ~~~~~~~^~~
In file included from /usr/include/x86_64-linux-gnu/c++/9/bits/c++allocator.h:33,
                 from /usr/include/c++/9/bits/allocator.h:46,
                 from /usr/include/c++/9/bits/stl_tree.h:64,
                 from /usr/include/c++/9/set:60,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/root_finder.hpp:31,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/trajectory.hpp:28,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/gcopter/visualizer.hpp:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/src/learning_planning.cpp:1:
/usr/include/c++/9/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = torch::jit::BuiltinModule; _Args = {const char (&)[5]}; _Tp = torch::jit::BuiltinModule]’:
/usr/include/c++/9/bits/alloc_traits.h:483:4:   required from ‘static void std::allocator_traits<std::allocator<_Tp1> >::construct(std::allocator_traits<std::allocator<_Tp1> >::allocator_type&, _Up*, _Args&& ...) [with _Up = torch::jit::BuiltinModule; _Args = {const char (&)[5]}; _Tp = torch::jit::BuiltinModule; std::allocator_traits<std::allocator<_Tp1> >::allocator_type = std::allocator<torch::jit::BuiltinModule>]’
/usr/include/c++/9/bits/shared_ptr_base.h:548:39:   required from ‘std::_Sp_counted_ptr_inplace<_Tp, _Alloc, _Lp>::_Sp_counted_ptr_inplace(_Alloc, _Args&& ...) [with _Args = {const char (&)[5]}; _Tp = torch::jit::BuiltinModule; _Alloc = std::allocator<torch::jit::BuiltinModule>; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:679:16:   required from ‘std::__shared_count<_Lp>::__shared_count(_Tp*&, std::_Sp_alloc_shared_tag<_Alloc>, _Args&& ...) [with _Tp = torch::jit::BuiltinModule; _Alloc = std::allocator<torch::jit::BuiltinModule>; _Args = {const char (&)[5]}; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:1344:71:   required from ‘std::__shared_ptr<_Tp, _Lp>::__shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = std::allocator<torch::jit::BuiltinModule>; _Args = {const char (&)[5]}; _Tp = torch::jit::BuiltinModule; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr.h:359:59:   required from ‘std::shared_ptr<_Tp>::shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = std::allocator<torch::jit::BuiltinModule>; _Args = {const char (&)[5]}; _Tp = torch::jit::BuiltinModule]’
/usr/include/c++/9/bits/shared_ptr.h:701:14:   required from ‘std::shared_ptr<_Tp> std::allocate_shared(const _Alloc&, _Args&& ...) [with _Tp = torch::jit::BuiltinModule; _Alloc = std::allocator<torch::jit::BuiltinModule>; _Args = {const char (&)[5]}]’
/usr/include/c++/9/bits/shared_ptr.h:717:39:   required from ‘std::shared_ptr<_Tp> std::make_shared(_Args&& ...) [with _Tp = torch::jit::BuiltinModule; _Args = {const char (&)[5]}]’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/resolver.h:53:52:   required from here
/usr/include/c++/9/ext/new_allocator.h:146:4: error: no matching function for call to ‘torch::jit::BuiltinModule::BuiltinModule(const char [5])’
  146 |  { ::new((void *)__p) _Up(std::forward<_Args>(__args)...); }
      |    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/resolver.h:5,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/script_type_parser.h:4,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/serialization/unpickler.h:7,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/serialization/pickle.h:8,
                 from /home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/script.h:10,
                 from /home/kkg/codes_rl/AllocNet/src/planner/include/planner/learning_planner.hpp:3,
                 from /home/kkg/codes_rl/AllocNet/src/planner/src/learning_planning.cpp:10:
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:308:3: note: candidate: ‘torch::jit::BuiltinModule::BuiltinModule(std::string, int)’
  308 |   BuiltinModule(std::string name, c10::optional<int64_t> version = at::nullopt)
      |   ^~~~~~~~~~~~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:308:3: note:   candidate expects 2 arguments, 1 provided
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:307:18: note: candidate: ‘torch::jit::BuiltinModule::BuiltinModule(const torch::jit::BuiltinModule&)’
  307 | struct TORCH_API BuiltinModule : public SugaredValue {
      |                  ^~~~~~~~~~~~~
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:307:18: note:   no known conversion for argument 1 from ‘const char [5]’ to ‘const torch::jit::BuiltinModule&’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:307:18: note: candidate: ‘torch::jit::BuiltinModule::BuiltinModule(torch::jit::BuiltinModule&&)’
/home/kkg/codes_rl/AllocNet/src/planner/libtorch/libtorch/include/torch/csrc/jit/frontend/sugared_value.h:307:18: note:   no known conversion for argument 1 from ‘const char [5]’ to ‘torch::jit::BuiltinModule&&’
make[2]: *** [CMakeFiles/learning_planning.dir/build.make:63: CMakeFiles/learning_planning.dir/src/learning_planning.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:764: CMakeFiles/learning_planning.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/kkg/codes_rl/AllocNet/build/planner; catkin build --get-env planner | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

...............................................................................
Failed     << planner:make             [ Exited with code 2 ]                  
Failed    <<< planner                  [ 1 minute and 50.3 seconds ]           
[build] Summary: 2 of 3 packages succeeded.                                    
[build]   Ignored:   None.                                                     
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 1 minute and 52.8 seconds total.

yuwei-wu · 2024-06-06T18:10:49Z

It looks like a dependence issue. Do you use a GPU or CPU version?

kashifzr · 2024-06-06T20:21:40Z

@yuwei-wu thanks you reply, I download cpu version of libtorch from the link, and place in planner folder. as you may see above. Then I change device to cpu device in learning_planner.hpp file in the include directory inside planner folder, my gcc compiler is 9.4.0.

yuwei-wu · 2024-06-07T15:58:10Z

hi, there's a pytorch update that causes this issue, you can try to download this version:

https://download.pytorch.org/libtorch/nightly/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.0.dev20230301%2Bcpu.zip.

I will make sure to update the readme accordingly. Thank you for bringing this issue up.

kashifzr · 2024-06-07T16:26:24Z

Hi, yuwei-wu thanks that libtorch works.

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