我的代码的 Boost 更新问题

我最近将 boost 更新到 1.59 并安装在 /usr/local 中。我的系统默认安装在/usr/并且是1.46。我使用的是ubuntu 12.04。

我的代码库使用 ROS Hydro（机器人操作系统）。我有一个相当大的代码库，在更新之前运行良好。但现在我明白了

terminate called after throwing an instance of 'boost::thread_interrupted'

我的堆栈跟踪

0x00007ffff573d0d5 in __GI_raise (sig=<optimized out>) at ../nptl/sysdeps/unix/sysv/linux/raise.c:64
64  ../nptl/sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) where
#0  0x00007ffff573d0d5 in __GI_raise (sig=<optimized out>) at ../nptl/sysdeps/unix/sysv/linux/raise.c:64
#1  0x00007ffff574083b in __GI_abort () at abort.c:91
#2  0x00007ffff608f69d in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#3  0x00007ffff608d846 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#4  0x00007ffff608d873 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#5  0x00007ffff608d96e in __cxa_throw () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x00007ffff7f1cc3e in boost::this_thread::interruption_point() () from /usr/local/lib/libboost_thread.so.1.59.0
#7  0x00007ffff7001752 in bool boost::condition_variable::timed_wait<boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> >(boost::unique_lock<boost::mutex>&, boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l> const&) () from /opt/ros/hydro/lib/libroscpp.so
#8  0x00007ffff6fff429 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/hydro/lib/libroscpp.so
#9  0x00007ffff7045f90 in ros::SingleThreadedSpinner::spin(ros::CallbackQueue*) () from /opt/ros/hydro/lib/libroscpp.so
#10 0x00007ffff702cd1b in ros::spin() () from /opt/ros/hydro/lib/libroscpp.so
#11 0x000000000041b795 in main ()

它显示异常源自ros核心库，这是不应该发生的。

可执行文件的 ldd 是：

    $ ldd devel/lib/visensor_node/visensor_nod
        linux-vdso.so.1 =>  (0x00007ffff934d000)
        libvisensor.so => /home/eeuser/ros_workspaces/HeloRosProject/devel/lib/libvisensor.so (0x00007f55489e10

00)
    libopencv_core.so.2.4 => /opt/ros/hydro/lib/libopencv_core.so.2.4 (0x00007f55485b6000)
    libopencv_calib3d.so.2.4 => /opt/ros/hydro/lib/libopencv_calib3d.so.2.4 (0x00007f5548321000)
    libimage_transport.so => /opt/ros/hydro/lib/libimage_transport.so (0x00007f55480a0000)
    libroslib.so => /opt/ros/hydro/lib/libroslib.so (0x00007f5547e8f000)
    libroscpp.so => /opt/ros/hydro/lib/libroscpp.so (0x00007f5547b53000)
    librosconsole.so => /opt/ros/hydro/lib/librosconsole.so (0x00007f554792d000)
    libdynamic_reconfigure_config_init_mutex.so => /opt/ros/hydro/lib/libdynamic_reconfigure_config_init_mutex.so (0x00007f5547727000)
    libroscpp_serialization.so => /opt/ros/hydro/lib/libroscpp_serialization.so (0x00007f5547524000)
    librostime.so => /opt/ros/hydro/lib/librostime.so (0x00007f55472fd000)
    libboost_system.so.1.46.1 => /usr/lib/libboost_system.so.1.46.1 (0x00007f55470cb000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f5546eae000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f5546bae000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f55468b1000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f554669b000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f55462dc000)
    libboost_thread.so.1.59.0 => /usr/local/lib/libboost_thread.so.1.59.0 (0x00007f55462b6000)
    /lib64/ld-linux-x86-64.so.2 (0x00007f5548a79000)
    libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f554609f000)
    librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f5545e97000)
    libopencv_flann.so.2.4 => /opt/ros/hydro/lib/libopencv_flann.so.2.4 (0x00007f5545c24000)
    libopencv_imgproc.so.2.4 => /opt/ros/hydro/lib/libopencv_imgproc.so.2.4 (0x00007f5545790000)
    libopencv_features2d.so.2.4 => /opt/ros/hydro/lib/libopencv_features2d.so.2.4 (0x00007f55454e9000)
    libmessage_filters.so => /opt/ros/hydro/lib/libmessage_filters.so (0x00007f55452e3000)
    libtinyxml.so.2.6.2 => /usr/lib/libtinyxml.so.2.6.2 (0x00007f55450ce000)
    libclass_loader.so => /opt/ros/hydro/lib/libclass_loader.so (0x00007f5544eb1000)
    libboost_signals.so.1.46.1 => /usr/lib/libboost_signals.so.1.46.1 (0x00007f5544c9c000)
    libboost_filesystem.so.1.46.1 => /usr/lib/libboost_filesystem.so.1.46.1 (0x00007f5544a7e000)
    libconsole_bridge.so => /opt/ros/hydro/lib/libconsole_bridge.so (0x00007f5544874000)
    librospack.so => /opt/ros/hydro/lib/librospack.so (0x00007f554462c000)
    libboost_thread.so.1.46.1 => /usr/lib/libboost_thread.so.1.46.1 (0x00007f5544413000)
    libxmlrpcpp.so => /opt/ros/hydro/lib/libxmlrpcpp.so (0x00007f55441f5000)
    libcpp_common.so => /opt/ros/hydro/lib/libcpp_common.so (0x00007f5543fec000)
    librosconsole_log4cxx.so => /opt/ros/hydro/lib/librosconsole_log4cxx.so (0x00007f5543dda000)
    librosconsole_backend_interface.so => /opt/ros/hydro/lib/librosconsole_backend_interface.so (0x00007f5543bd8000)
    liblog4cxx.so.10 => /usr/lib/liblog4cxx.so.10 (0x00007f55437f8000)
    libboost_regex.so.1.46.1 => /usr/lib/libboost_regex.so.1.46.1 (0x00007f55434f6000)
    libboost_system.so.1.59.0 => /usr/local/lib/libboost_system.so.1.59.0 (0x00007f55434f0000)
    libPocoFoundation.so.9 => /usr/lib/libPocoFoundation.so.9 (0x00007f554319f000)
    libboost_program_options.so.1.46.1 => /usr/lib/libboost_program_options.so.1.46.1 (0x00007f5542f39000)
    libpython2.7.so.1.0 => /usr/lib/libpython2.7.so.1.0 (0x00007f5542a3c000)
    libaprutil-1.so.0 => /usr/lib/libaprutil-1.so.0 (0x00007f5542818000)
    libapr-1.so.0 => /usr/lib/libapr-1.so.0 (0x00007f55425df000)
    libicuuc.so.48 => /usr/lib/libicuuc.so.48 (0x00007f5542275000)
    libicui18n.so.48 => /usr/lib/libicui18n.so.48 (0x00007f5541eac000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f5541ca8000)
    libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007f5541a6b000)
    libssl.so.1.0.0 => /lib/x86_64-linux-gnu/libssl.so.1.0.0 (0x00007f554180c000)
    libcrypto.so.1.0.0 => /lib/x86_64-linux-gnu/libcrypto.so.1.0.0 (0x00007f5541431000)
    libutil.so.1 => /lib/x86_64-linux-gnu/libutil.so.1 (0x00007f554122e000)
    libcrypt.so.1 => /lib/x86_64-linux-gnu/libcrypt.so.1 (0x00007f5540ff4000)
    libexpat.so.1 => /lib/x86_64-linux-gnu/libexpat.so.1 (0x00007f5540dca000)
    libuuid.so.1 => /lib/x86_64-linux-gnu/libuuid.so.1 (0x00007f5540bc5000)
    libicudata.so.48 => /usr/lib/libicudata.so.48 (0x00007f553f854000)

In particular this might be of interest :
$ ldd devel/lib/visensor_node/visensor_node  | grep lib\boost
    libboost_system.so.1.46.1 => /usr/lib/libboost_system.so.1.46.1 (0x00007fcc9abdb000)
    libboost_thread.so.1.59.0 => /usr/local/lib/libboost_thread.so.1.59.0 (0x00007fcc99dc6000)
    libboost_signals.so.1.46.1 => /usr/lib/libboost_signals.so.1.46.1 (0x00007fcc987ac000)
    libboost_filesystem.so.1.46.1 => /usr/lib/libboost_filesystem.so.1.46.1 (0x00007fcc9858e000)
    libboost_thread.so.1.46.1 => /usr/lib/libboost_thread.so.1.46.1 (0x00007fcc97f23000)
    libboost_regex.so.1.46.1 => /usr/lib/libboost_regex.so.1.46.1 (0x00007fcc97006000)
    libboost_system.so.1.59.0 => /usr/local/lib/libboost_system.so.1.59.0 (0x00007fcc97000000)
    libboost_program_options.so.1.46.1 => /usr/lib/libboost_program_options.so.1.46.1 (0x00007fcc96a49000)

libvisensor.so 的 ldd

linux-vdso.so.1 =>  (0x00007fff7e3fe000)
libboost_thread.so.1.59.0 => /usr/local/lib/libboost_thread.so.1.59.0 (0x00007f29b4b60000)
libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f29b4832000)
libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f29b4536000)
libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f29b4320000)
libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f29b3f60000)
/lib64/ld-linux-x86-64.so.2 (0x00007f29b4c1d000)
libboost_system.so.1.59.0 => /usr/local/lib/libboost_system.so.1.59.0 (0x00007f29b3f5b000)
librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f29b3d53000)
libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f29b3b35000)

我注意到由于一些有趣的原因，两个 boost 库都是链接的，即。版本 1.46 和 1.59。 我应该如何修复这个错误？

ROS Hydro 与 Boost 1.59 不兼容。如果您在安装 Boost 1.59 的同时还安装了 ROS Hydro，您将会遇到问题。正如 ROS 答案中的下一页所解释的那样，但我也会复制其中的摘录，以保证我的答案的完整性。

ROS的源码安装将与其他版本的ROS一起编译 boost，但由于二进制不兼容的可能性， ROS 的二进制版本必须与相同版本的 ROS 安装 增强它们的构建能力。如果您想将 ROS 与 除了标准版本之外的 boost 版本，您必须构建 来自源代码的 ROS。

http://answers.ros.org/question/170406/ros-Hydro-and-boost-148/