### 背景：
问题出在配置昇腾社区开源四足机器人的强化学习项目，项目网址：
https://gitee.com/HUAWEI-ASCEND/quadruped-robot/tree/master/rl-control/rl-robotics
配置的昇腾官网 Ubuntu 22.04镜像，使用系统自带的 conda 创建了 python 3.8 虚拟环境
虚拟环境信息如下：
_libgcc_mutex pkgs/main/linux-aarch64::_libgcc_mutex-0.1-main
_openmp_mutex pkgs/main/linux-aarch64::_openmp_mutex-5.1-51_gnu
ca-certificates pkgs/main/linux-aarch64::ca-certificates-2024.9.24-hd43f75c_0
ld_impl_linux-aar~ pkgs/main/linux-aarch64::ld_impl_linux-aarch64-2.40-h48e3ba3_0
libffi pkgs/main/linux-aarch64::libffi-3.4.4-h419075a_1
libgcc-ng pkgs/main/linux-aarch64::libgcc-ng-11.2.0-h1234567_1
libgomp pkgs/main/linux-aarch64::libgomp-11.2.0-h1234567_1
libstdcxx-ng pkgs/main/linux-aarch64::libstdcxx-ng-11.2.0-h1234567_1
ncurses pkgs/main/linux-aarch64::ncurses-6.4-h419075a_0
openssl pkgs/main/linux-aarch64::openssl-3.0.15-h998d150_0
pip pkgs/main/linux-aarch64::pip-24.2-py38hd43f75c_0
python pkgs/main/linux-aarch64::python-3.8.20-h4bb2201_0
readline pkgs/main/linux-aarch64::readline-8.2-h998d150_0
setuptools pkgs/main/linux-aarch64::setuptools-75.1.0-py38hd43f75c_0
sqlite pkgs/main/linux-aarch64::sqlite-3.45.3-h998d150_0
tk pkgs/main/linux-aarch64::tk-8.6.14-h987d8db_0
wheel pkgs/main/linux-aarch64::wheel-0.44.0-py38hd43f75c_0
xz pkgs/main/linux-aarch64::xz-5.4.6-h998d150_1
zlib pkgs/main/linux-aarch64::zlib-1.2.13-h998d150_1
在虚拟环境之中按照 README 文档配置时，
第二步 'install pytorch with cuda' 就有点小问题，文档内的指令：
pip3 install torch==1.10.0+cu113 torchvision==0.11.1+cu113 torchaudio==0.10.0+cu113 -f https://download.pytorch.org/whl/cu113/torch_stable.html
会报错没有对应版本，把三个库的+cu113 删掉之后就能下载了，只是目前还不知道能不能正常运行。
主要问题出在第四步：Install python dependencies with pip.
配置cupy报错信息如下：
Collecting cupy
Using cached cupy-12.3.0.tar.gz (1.8 MB)
Preparing metadata (setup.py) ... done
Requirement already satisfied: numpy<1.29,>=1.20 in /home/HwHiAiUser/.conda/envs/PY38/lib/python3.8/site-packages (from cupy) (1.24.4)
Collecting fastrlock>=0.5 (from cupy)
Using cached fastrlock-0.8.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl.metadata (9.3 kB)
Using cached fastrlock-0.8.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl (51 kB)
Building wheels for collected packages: cupy
Building wheel for cupy (setup.py) ... error
error: subprocess-exited-with-error
× python setup.py bdist_wheel did not run successfully.
│ exit code: 1
╰─> [63 lines of output]
Clearing directory: /tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/cupy/.data
-------- Configuring Module: cuda --------
cc1plus: warning: command-line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
/tmp/tmpqpb45gv3/a.cpp:1:10: fatal error: cublas_v2.h: No such file or directory
1 | #include <cublas_v2.h>
| ^~~~~~~~~~~~~
compilation terminated.
command '/usr/bin/g++' failed with exit code 1
cc1plus: warning: command-line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
/tmp/tmp48cod665/a.cpp:2:18: fatal error: cuda_runtime_api.h: No such file or directory
2 | #include <cuda_runtime_api.h>
| ^~~~~~~~~~~~~~~~~~~~
compilation terminated.
**************************************************
*** WARNING: Cannot check compute capability
command '/usr/bin/g++' failed with exit code 1
**************************************************
************************************************************
* CuPy Configuration Summary *
************************************************************
Build Environment:
Include directories: ['/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/cupy/_core/include/cupy/cub', '/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/cupy/_core/include']
Library directories: []
nvcc command : (not found)
hipcc command : (not found)
Environment Variables:
CFLAGS : (none)
LDFLAGS : (none)
LIBRARY_PATH : (none)
CUDA_PATH : (none)
NVCC : (none)
HIPCC : (none)
ROCM_HOME : (none)
Modules:
cuda : No
-> Include files not found: ['cublas_v2.h', 'cuda.h', 'cuda_profiler_api.h', 'cuda_runtime.h', 'cufft.h', 'curand.h', 'cusparse.h', 'nvrtc.h']
-> Check your CFLAGS environment variable.
ERROR: CUDA could not be found on your system.
HINT: You are trying to build CuPy from source, which is NOT recommended for general use.
Please consider using binary packages instead.
Please refer to the Installation Guide for details:
https://docs.cupy.dev/en/stable/install.html
************************************************************
Traceback (most recent call last):
File "<string>", line 2, in <module>
File "<pip-setuptools-caller>", line 34, in <module>
File "/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/setup.py", line 88, in <module>
ext_modules = cupy_setup_build.get_ext_modules(True, ctx)
File "/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/install/cupy_builder/cupy_setup_build.py", line 449, in get_ext_modules
extensions = make_extensions(ctx, compiler, use_cython)
File "/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/install/cupy_builder/cupy_setup_build.py", line 305, in make_extensions
raise Exception('Your CUDA environment is invalid. '
Exception: Your CUDA environment is invalid. Please check above error log.
[end of output]
note: This error originates from a subprocess, and is likely not a problem with pip.
ERROR: Failed building wheel for cupy
Running setup.py clean for cupy
error: subprocess-exited-with-error
× python setup.py clean did not run successfully.
│ exit code: 1
╰─> [63 lines of output]
Clearing directory: /tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/cupy/.data
-------- Configuring Module: cuda --------
cc1plus: warning: command-line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
/tmp/tmpao8gek5d/a.cpp:1:10: fatal error: cublas_v2.h: No such file or directory
1 | #include <cublas_v2.h>
| ^~~~~~~~~~~~~
compilation terminated.
command '/usr/bin/g++' failed with exit code 1
cc1plus: warning: command-line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
/tmp/tmpmcnibi5p/a.cpp:2:18: fatal error: cuda_runtime_api.h: No such file or directory
2 | #include <cuda_runtime_api.h>
| ^~~~~~~~~~~~~~~~~~~~
compilation terminated.
**************************************************
*** WARNING: Cannot check compute capability
command '/usr/bin/g++' failed with exit code 1
**************************************************
************************************************************
* CuPy Configuration Summary *
************************************************************
Build Environment:
Include directories: ['/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/cupy/_core/include/cupy/cub', '/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/cupy/_core/include']
Library directories: []
nvcc command : (not found)
hipcc command : (not found)
Environment Variables:
CFLAGS : (none)
LDFLAGS : (none)
LIBRARY_PATH : (none)
CUDA_PATH : (none)
NVCC : (none)
HIPCC : (none)
ROCM_HOME : (none)
Modules:
cuda : No
-> Include files not found: ['cublas_v2.h', 'cuda.h', 'cuda_profiler_api.h', 'cuda_runtime.h', 'cufft.h', 'curand.h', 'cusparse.h', 'nvrtc.h']
-> Check your CFLAGS environment variable.
ERROR: CUDA could not be found on your system.
HINT: You are trying to build CuPy from source, which is NOT recommended for general use.
Please consider using binary packages instead.
Please refer to the Installation Guide for details:
https://docs.cupy.dev/en/stable/install.html
************************************************************
Traceback (most recent call last):
File "<string>", line 2, in <module>
File "<pip-setuptools-caller>", line 34, in <module>
File "/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/setup.py", line 88, in <module>
ext_modules = cupy_setup_build.get_ext_modules(True, ctx)
File "/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/install/cupy_builder/cupy_setup_build.py", line 449, in get_ext_modules
extensions = make_extensions(ctx, compiler, use_cython)
File "/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/install/cupy_builder/cupy_setup_build.py", line 305, in make_extensions
raise Exception('Your CUDA environment is invalid. '
Exception: Your CUDA environment is invalid. Please check above error log.
[end of output]
note: This error originates from a subprocess, and is likely not a problem with pip.
ERROR: Failed cleaning build dir for cupy
Failed to build cupy
ERROR: ERROR: Failed to build installable wheels for some pyproject.toml based projects (cupy)
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已解决
### 背景：
问题出在配置昇腾社区开源四足机器人的强化学习项目，项目网址：
https://gitee.com/HUAWEI-ASCEND/quadruped-robot/tree/master/rl-control/rl-robotics
配置的昇腾官网 Ubuntu 22.04镜像，使用系统自带的 conda 创建了 python 3.8 虚拟环境
虚拟环境信息如下：
_libgcc_mutex pkgs/main/linux-aarch64::_libgcc_mutex-0.1-main
_openmp_mutex pkgs/main/linux-aarch64::_openmp_mutex-5.1-51_gnu
ca-certificates pkgs/main/linux-aarch64::ca-certificates-2024.9.24-hd43f75c_0
ld_impl_linux-aar~ pkgs/main/linux-aarch64::ld_impl_linux-aarch64-2.40-h48e3ba3_0
libffi pkgs/main/linux-aarch64::libffi-3.4.4-h419075a_1
libgcc-ng pkgs/main/linux-aarch64::libgcc-ng-11.2.0-h1234567_1
libgomp pkgs/main/linux-aarch64::libgomp-11.2.0-h1234567_1
libstdcxx-ng pkgs/main/linux-aarch64::libstdcxx-ng-11.2.0-h1234567_1
ncurses pkgs/main/linux-aarch64::ncurses-6.4-h419075a_0
openssl pkgs/main/linux-aarch64::openssl-3.0.15-h998d150_0
pip pkgs/main/linux-aarch64::pip-24.2-py38hd43f75c_0
python pkgs/main/linux-aarch64::python-3.8.20-h4bb2201_0
readline pkgs/main/linux-aarch64::readline-8.2-h998d150_0
setuptools pkgs/main/linux-aarch64::setuptools-75.1.0-py38hd43f75c_0
sqlite pkgs/main/linux-aarch64::sqlite-3.45.3-h998d150_0
tk pkgs/main/linux-aarch64::tk-8.6.14-h987d8db_0
wheel pkgs/main/linux-aarch64::wheel-0.44.0-py38hd43f75c_0
xz pkgs/main/linux-aarch64::xz-5.4.6-h998d150_1
zlib pkgs/main/linux-aarch64::zlib-1.2.13-h998d150_1
在虚拟环境之中按照 README 文档配置时，
第二步 'install pytorch with cuda' 就有点小问题，文档内的指令：
pip3 install torch==1.10.0+cu113 torchvision==0.11.1+cu113 torchaudio==0.10.0+cu113 -f https://download.pytorch.org/whl/cu113/torch_stable.html
会报错没有对应版本，把三个库的+cu113 删掉之后就能下载了，只是目前还不知道能不能正常运行。
主要问题出在第四步：Install python dependencies with pip.
配置cupy报错信息如下：
Collecting cupy
Using cached cupy-12.3.0.tar.gz (1.8 MB)
Preparing metadata (setup.py) ... done
Requirement already satisfied: numpy<1.29,>=1.20 in /home/HwHiAiUser/.conda/envs/PY38/lib/python3.8/site-packages (from cupy) (1.24.4)
Collecting fastrlock>=0.5 (from cupy)
Using cached fastrlock-0.8.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl.metadata (9.3 kB)
Using cached fastrlock-0.8.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_28_aarch64.whl (51 kB)
Building wheels for collected packages: cupy
Building wheel for cupy (setup.py) ... error
error: subprocess-exited-with-error
× python setup.py bdist_wheel did not run successfully.
│ exit code: 1
╰─> [63 lines of output]
Clearing directory: /tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/cupy/.data
-------- Configuring Module: cuda --------
cc1plus: warning: command-line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
/tmp/tmpqpb45gv3/a.cpp:1:10: fatal error: cublas_v2.h: No such file or directory
1 | #include <cublas_v2.h>
| ^~~~~~~~~~~~~
compilation terminated.
command '/usr/bin/g++' failed with exit code 1
cc1plus: warning: command-line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
/tmp/tmp48cod665/a.cpp:2:18: fatal error: cuda_runtime_api.h: No such file or directory
2 | #include <cuda_runtime_api.h>
| ^~~~~~~~~~~~~~~~~~~~
compilation terminated.
**************************************************
*** WARNING: Cannot check compute capability
command '/usr/bin/g++' failed with exit code 1
**************************************************
************************************************************
* CuPy Configuration Summary *
************************************************************
Build Environment:
Include directories: ['/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/cupy/_core/include/cupy/cub', '/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/cupy/_core/include']
Library directories: []
nvcc command : (not found)
hipcc command : (not found)
Environment Variables:
CFLAGS : (none)
LDFLAGS : (none)
LIBRARY_PATH : (none)
CUDA_PATH : (none)
NVCC : (none)
HIPCC : (none)
ROCM_HOME : (none)
Modules:
cuda : No
-> Include files not found: ['cublas_v2.h', 'cuda.h', 'cuda_profiler_api.h', 'cuda_runtime.h', 'cufft.h', 'curand.h', 'cusparse.h', 'nvrtc.h']
-> Check your CFLAGS environment variable.
ERROR: CUDA could not be found on your system.
HINT: You are trying to build CuPy from source, which is NOT recommended for general use.
Please consider using binary packages instead.
Please refer to the Installation Guide for details:
https://docs.cupy.dev/en/stable/install.html
************************************************************
Traceback (most recent call last):
File "<string>", line 2, in <module>
File "<pip-setuptools-caller>", line 34, in <module>
File "/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/setup.py", line 88, in <module>
ext_modules = cupy_setup_build.get_ext_modules(True, ctx)
File "/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/install/cupy_builder/cupy_setup_build.py", line 449, in get_ext_modules
extensions = make_extensions(ctx, compiler, use_cython)
File "/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/install/cupy_builder/cupy_setup_build.py", line 305, in make_extensions
raise Exception('Your CUDA environment is invalid. '
Exception: Your CUDA environment is invalid. Please check above error log.
[end of output]
note: This error originates from a subprocess, and is likely not a problem with pip.
ERROR: Failed building wheel for cupy
Running setup.py clean for cupy
error: subprocess-exited-with-error
× python setup.py clean did not run successfully.
│ exit code: 1
╰─> [63 lines of output]
Clearing directory: /tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/cupy/.data
-------- Configuring Module: cuda --------
cc1plus: warning: command-line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
/tmp/tmpao8gek5d/a.cpp:1:10: fatal error: cublas_v2.h: No such file or directory
1 | #include <cublas_v2.h>
| ^~~~~~~~~~~~~
compilation terminated.
command '/usr/bin/g++' failed with exit code 1
cc1plus: warning: command-line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++
/tmp/tmpmcnibi5p/a.cpp:2:18: fatal error: cuda_runtime_api.h: No such file or directory
2 | #include <cuda_runtime_api.h>
| ^~~~~~~~~~~~~~~~~~~~
compilation terminated.
**************************************************
*** WARNING: Cannot check compute capability
command '/usr/bin/g++' failed with exit code 1
**************************************************
************************************************************
* CuPy Configuration Summary *
************************************************************
Build Environment:
Include directories: ['/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/cupy/_core/include/cupy/cub', '/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/cupy/_core/include']
Library directories: []
nvcc command : (not found)
hipcc command : (not found)
Environment Variables:
CFLAGS : (none)
LDFLAGS : (none)
LIBRARY_PATH : (none)
CUDA_PATH : (none)
NVCC : (none)
HIPCC : (none)
ROCM_HOME : (none)
Modules:
cuda : No
-> Include files not found: ['cublas_v2.h', 'cuda.h', 'cuda_profiler_api.h', 'cuda_runtime.h', 'cufft.h', 'curand.h', 'cusparse.h', 'nvrtc.h']
-> Check your CFLAGS environment variable.
ERROR: CUDA could not be found on your system.
HINT: You are trying to build CuPy from source, which is NOT recommended for general use.
Please consider using binary packages instead.
Please refer to the Installation Guide for details:
https://docs.cupy.dev/en/stable/install.html
************************************************************
Traceback (most recent call last):
File "<string>", line 2, in <module>
File "<pip-setuptools-caller>", line 34, in <module>
File "/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/setup.py", line 88, in <module>
ext_modules = cupy_setup_build.get_ext_modules(True, ctx)
File "/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/install/cupy_builder/cupy_setup_build.py", line 449, in get_ext_modules
extensions = make_extensions(ctx, compiler, use_cython)
File "/tmp/pip-install-fgb5xcjm/cupy_a4dfe9a4d70a484cb82b1cddb81c22ee/install/cupy_builder/cupy_setup_build.py", line 305, in make_extensions
raise Exception('Your CUDA environment is invalid. '
Exception: Your CUDA environment is invalid. Please check above error log.
[end of output]
note: This error originates from a subprocess, and is likely not a problem with pip.
ERROR: Failed cleaning build dir for cupy
Failed to build cupy
ERROR: ERROR: Failed to build installable wheels for some pyproject.toml based projects (cupy)