提升更新问题与我的代码
Boost Update Issue with my code
我最近更新了我的boost到1.59，并安装在/usr/local。我的系统默认安装在/usr/中，是1.46。我用的是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，在更新之前工作得很好。但是现在我得到terminate called after throwing an instance of 'boost::thread_interrupted'
My Stack trace
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 ()
显示异常来自ros core库，本不应该发生。
可执行文件的ldd为:
$ 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 libboost
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)
libvissensor .so
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库都链接在一起。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。如果你在安装Boost 1.59的同时也安装了ROS Hydro，你就会遇到问题。就像在下面的ROS答案中解释的那样，但为了完整，我也会复制其中的一段摘录作为我的答案。
http://answers.ros.org/question/170406/ros-hydro-and-boost-148/ROS的源安装将与其他版本的但是由于二进制文件不兼容的可能性二进制版本的ROS必须安装在相同版本的它们是用助推器建造的。如果你想用ROS版本的boost以外的标准版本，您将不得不构建ROS from source.
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