如何修复Mujoco CmakeLists构建错误”/usr/bin/ld:找不到-lglfw"；？ 我试图用C++模拟Mujoco的机器人物理学。因为项目是更大工作空间的一部分，所以我需要使用cmake来构建可执行文件。但是，我似乎无法正确链接所有从属库，因此无法消除错误： ~: /usr/bin/ld: cannot find -lglfw

我在网上做了一些关于如何在CmakeLists中正确设置Mujoco的研究，并找到了一些示例，以及

我复制了上面示例中的CmakeLists文件，但错误仍然存在。以下是我的文件中的相关片段。我定义了一个环境变量

MUJOCO_PATH

来指向我机器上的MUJOCO文件夹。具体来说，

$HOME/.mujoco/mujoco200

CmakeLists.txt

######################################################
# define the include directory of all ${CATKIN_PKGS} #
######################################################
include_directories(
    ${PROJECT_SOURCE_DIR}/include
    ${catkin_INCLUDE_DIRS}
    ${Eigen_INCLUDE_DIRS}
    $ENV{MUJOCO_PATH}/include
)

########################################################
# manage the creation of the libraries and executables #
########################################################
set(USE_GL 1)

link_directories($ENV{MUJOCO_PATH}/bin)

#Finding main mujoco library
if(${USE_GL})
    file(GLOB LIB_MUJOCO $ENV{MUJOCO_PATH}/bin/libmujoco[0-9][0-9][0-9].so)
else()
    file(GLOB LIB_MUJOCO $ENV{MUJOCO_PATH}/bin/libmujoco[0-9][0-9][0-9]nogl.so)
endif()
#Showing mujoco library found
message(STATUS "MuJoCo lib: " ${LIB_MUJOCO})

add_subdirectory(src)

set(BIN_NAME mujoco_finger_test)

add_executable(${BIN_NAME} ${BIN_NAME}.cpp)
target_link_libraries(${BIN_NAME} ${LIB_MUJOCO})

# Standard libraries for GL
target_link_libraries(${BIN_NAME} GL GLU glut )

# Additional libraries from mujoco package
target_link_libraries(${BIN_NAME} libglew.so libglfw.so.3 libglewegl.so libglewosmesa.so)

src/CmakeLists.txt

######################################################
# define the include directory of all ${CATKIN_PKGS} #
######################################################
include_directories(
    ${PROJECT_SOURCE_DIR}/include
    ${catkin_INCLUDE_DIRS}
    ${Eigen_INCLUDE_DIRS}
    $ENV{MUJOCO_PATH}/include
)

########################################################
# manage the creation of the libraries and executables #
########################################################
set(USE_GL 1)

link_directories($ENV{MUJOCO_PATH}/bin)

#Finding main mujoco library
if(${USE_GL})
    file(GLOB LIB_MUJOCO $ENV{MUJOCO_PATH}/bin/libmujoco[0-9][0-9][0-9].so)
else()
    file(GLOB LIB_MUJOCO $ENV{MUJOCO_PATH}/bin/libmujoco[0-9][0-9][0-9]nogl.so)
endif()
#Showing mujoco library found
message(STATUS "MuJoCo lib: " ${LIB_MUJOCO})

add_subdirectory(src)

set(BIN_NAME mujoco_finger_test)

add_executable(${BIN_NAME} ${BIN_NAME}.cpp)
target_link_libraries(${BIN_NAME} ${LIB_MUJOCO})

# Standard libraries for GL
target_link_libraries(${BIN_NAME} GL GLU glut )

# Additional libraries from mujoco package
target_link_libraries(${BIN_NAME} libglew.so libglfw.so.3 libglewegl.so libglewosmesa.so)

有人知道为什么会这样吗？我是否在这些例子中遗漏了什么

---

谢谢

您应该找到GL/GLW包，而不是：

目标链接库（${BIN\u NAME}libglew.so libglfw.so.3 libglewegl.so libglewosmesa.so）

。这并不能确保这些库可用且可以找到，而

FIND_包（GLEW）

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