Windows 10上使用Naoqi Java SDK发生UnsatisfiedLinkError

编程问答 2022-08-16

问题描述

类似的问题： UnsatisfiedLinkError for com.aldebaran.qi-但指的是在Android上使用naoqi Java SDK。

初始情况

到目前为止，我仅在Eclipse中以及通过终端使用Linux上的Nao机器人使用naoqi Java SDK。我应该在我的大学的Windows 10上的Eclipse中使用Java SDK。

目前，我只有Aldebaran / Softbank提供的以下SDK文件（因为新的Softbank开发人员页面已启动，而旧的Aldebaran社区页面已关闭，因此Java SDK无法下载）

  • java-naoqi-sdk-2.1.4.13-win32-vs2010.jar

我已将SDK .jar文件添加为Eclipse中的外部jar，如以下屏幕截图所示：

screenshot of build path configuration in eclipse 2020

我使用的是Aldebaran文档http://doc.aldebaran.com/2-1/dev/java/index_java.html所建议的32位JDK 1.7.0

错误

程序只是正常编译-但是尝试连接到机器人时，程序在加载必要的库时崩溃：

Loading gnustl_shared.dll
No such resource /gnustl_shared.dll
Loading gnustl_shared_d.dll
No such resource /gnustl_shared_d.dll
Loading boost_atomic.dll
No such resource /boost_atomic.dll
Loading boost_atomic_d.dll
No such resource /boost_atomic_d.dll
Loading boost_date_time.dll
No such resource /boost_date_time.dll
Loading boost_date_time_d.dll
No such resource /boost_date_time_d.dll
Loading boost_system.dll
No such resource /boost_system.dll
Loading boost_system_d.dll
No such resource /boost_system_d.dll
Loading boost_thread.dll
No such resource /boost_thread.dll
Loading boost_thread_d.dll
No such resource /boost_thread_d.dll
Loading boost_chrono.dll
No such resource /boost_chrono.dll
Loading boost_chrono_d.dll
No such resource /boost_chrono_d.dll
Loading boost_locale.dll
No such resource /boost_locale.dll
Loading boost_locale_d.dll
No such resource /boost_locale_d.dll
Loading boost_filesystem.dll
No such resource /boost_filesystem.dll
Loading boost_filesystem_d.dll
No such resource /boost_filesystem_d.dll
Loading boost_program_options.dll
No such resource /boost_program_options.dll
Loading boost_program_options_d.dll
No such resource /boost_program_options_d.dll
Loading boost_regex.dll
No such resource /boost_regex.dll
Loading boost_regex_d.dll
No such resource /boost_regex_d.dll
Loading qi.dll
Loading: C:\Users\lukas\AppData\Local\Temp\\qi.dll 
Exception in thread "AWT-EventQueue-0" java.lang.UnsatisfiedLinkError: C:\Users\bruno\AppData\Local\Temp\qi.dll: Can't find dependent libraries
    at java.lang.classLoader$NativeLibrary.load(Native Method)
    at java.lang.classLoader.loadLibrary0(ClassLoader.java:1928)
    at java.lang.classLoader.loadLibrary(ClassLoader.java:1825)
    at java.lang.Runtime.load0(Runtime.java:792)
    at java.lang.System.load(System.java:1059)
    at com.aldebaran.qi.SharedLibrary.extractAndLoad(SharedLibrary.java:133)
    at com.aldebaran.qi.SharedLibrary.loadLibHelper(SharedLibrary.java:72)
    at com.aldebaran.qi.SharedLibrary.loadLib(SharedLibrary.java:34)
    at com.aldebaran.qi.EmbeddedTools.loadEmbeddedLibraries(EmbeddedTools.java:125)
    at com.aldebaran.qi.Application.<clinit>(Application.java:16)
    at action.RobotAction.connect(RobotAction.java:77)
    at ui.Connect$1.actionPerformed(Connect.java:49)
    at javax.swing.AbstractButton.fireActionPerformed(AbstractButton.java:2018)
    at javax.swing.AbstractButton$Handler.actionPerformed(AbstractButton.java:2341)
    at javax.swing.DefaultButtonModel.fireActionPerformed(DefaultButtonModel.java:402)
    at javax.swing.DefaultButtonModel.setpressed(DefaultButtonModel.java:259)
    at javax.swing.plaf.basic.BasicButtonListener.mouseReleased(BasicButtonListener.java:252)
    at java.awt.Component.processMouseEvent(Component.java:6504)
    at javax.swing.JComponent.processMouseEvent(JComponent.java:3321)
    at java.awt.Component.processEvent(Component.java:6269)
    at java.awt.Container.processEvent(Container.java:2229)
    at java.awt.Component.dispatchEventImpl(Component.java:4860)
    at java.awt.Container.dispatchEventImpl(Container.java:2287)
    at java.awt.Component.dispatchEvent(Component.java:4686)
    at java.awt.Lightweightdispatcher.retargetMouseEvent(Container.java:4832)
    at java.awt.Lightweightdispatcher.processMouseEvent(Container.java:4492)
    at java.awt.Lightweightdispatcher.dispatchEvent(Container.java:4422)
    at java.awt.Container.dispatchEventImpl(Container.java:2273)
    at java.awt.Window.dispatchEventImpl(Window.java:2713)
    at java.awt.Component.dispatchEvent(Component.java:4686)
    at java.awt.EventQueue.dispatchEventImpl(EventQueue.java:707)
    at java.awt.EventQueue.access$000(EventQueue.java:101)
    at java.awt.EventQueue$3.run(EventQueue.java:666)
    at java.awt.EventQueue$3.run(EventQueue.java:664)
    at java.security.AccessController.doPrivileged(Native Method)
    at java.security.ProtectionDomain$1.doIntersectionPrivilege(ProtectionDomain.java:76)
    at java.security.ProtectionDomain$1.doIntersectionPrivilege(ProtectionDomain.java:87)
    at java.awt.EventQueue$4.run(EventQueue.java:680)
    at java.awt.EventQueue$4.run(EventQueue.java:678)
    at java.security.AccessController.doPrivileged(Native Method)
    at java.security.ProtectionDomain$1.doIntersectionPrivilege(ProtectionDomain.java:76)
    at java.awt.EventQueue.dispatchEvent(EventQueue.java:677)
    at java.awt.EventdispatchThread.pumpOneEventForFilters(EventdispatchThread.java:211)
    at java.awt.EventdispatchThread.pumpEventsForFilter(EventdispatchThread.java:128)
    at java.awt.EventdispatchThread.pumpEventsForHierarchy(EventdispatchThread.java:117)
    at java.awt.EventdispatchThread.pumpEvents(EventdispatchThread.java:113)
    at java.awt.EventdispatchThread.pumpEvents(EventdispatchThread.java:105)
    at java.awt.EventdispatchThread.run(EventdispatchThread.java:90)

库文件包含在.jar文件中。对于linux，这些库是* .so文件，对于Windows是* .dll文件。因此，我检查了控制台输出中的所有库文件是否都包含在.jar文件中。但是大多数库文件都丢失了（gnustl_shared.dll，boost_atomic.dll等）：

content of the sdk.jar file

我做错了什么吗？

解决方法

您的 JVM 可能仅支持 64 位。 由于只有 32 位 .jar 可用，并且根据 Running 32-bit dll on 64-bit machine in java，您必须使用 32 位 JVM 才能使其工作。

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