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matlabbe avatar matlabbe commented on July 17, 2024 1

Alright, you can revert for now.

About the issue, the build error seems coming from upstream package ros-jazzy-gtsam:

06:38:20 DEBUG: [ 31%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o
06:38:20 DEBUG: cd /builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/.obj-x86_64-redhat-linux-gnu/corelib/src && /usr/bin/g++ -DDISABLE_LIBUSB -DDISABLE_PCAP -DDISABLE_PNG -DPCL_OMP -DQT_CORE_LIB -DQT_GUI_LIB -DQT_NO_DEBUG -DQT_NO_KEYWORDS -DQT_OPENGL_LIB -DQT_WIDGETS_LIB -DVTK_GLOBAL_WARNING_DISPLAY_OFF -Dkiss_fft_scalar=double -Dqh_QHpointer -Drtabmap_core_EXPORTS -I/builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/corelib/src -I/builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/corelib/src/../include -I/builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/.obj-x86_64-redhat-linux-gnu/corelib/src -I/builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/.obj-x86_64-redhat-linux-gnu/corelib/src/include -I/opt/ros/jazzy/lib/cmake/GTSAM/../../../include -I/builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/utilite/src/../include -I/builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/.obj-x86_64-redhat-linux-gnu/utilite/src/include -isystem /opt/ros/jazzy/include -isystem /usr/include/eigen3 -isystem /usr/include/opencv4 -isystem /usr/include/pcl-1.12 -isystem /usr/include/ni -isystem /usr/include/vtk -isystem /usr/include/freetype2 -isystem /usr/include/qt5 -isystem /usr/include/qt5/QtWidgets -isystem /usr/include/qt5/QtGui -isystem /usr/include/qt5/QtCore -isystem /usr/lib64/qt5/mkspecs/linux-g++ -isystem /usr/include/qt5/QtOpenGL -isystem /opt/ros/jazzy/include/g2o/core -isystem /opt/ros/jazzy/include/g2o/stuff -isystem /opt/ros/jazzy/include/g2o/solvers/eigen -isystem /opt/ros/jazzy/include/g2o/solvers/pcg -isystem /opt/ros/jazzy/include/g2o/types/slam2d -isystem /opt/ros/jazzy/include/g2o/types/slam3d -isystem /opt/ros/jazzy/include/g2o/types/sba -isystem /opt/ros/jazzy/include/g2o/solvers/csparse -isystem /usr/include/suitesparse -isystem /opt/ros/jazzy/include/g2o/solvers/cholmod -isystem /opt/ros/jazzy/include/gtsam/3rdparty/SuiteSparse_config -isystem /opt/ros/jazzy/include/gtsam/3rdparty/CCOLAMD -isystem /opt/ros/jazzy/include/gtsam/3rdparty/metis -isystem /opt/ros/jazzy/include/gtsam/3rdparty/Eigen -O2 -flto=auto -ffat-lto-objects -fexceptions -g -grecord-gcc-switches -pipe -Wall -Werror=format-security -Wp,-D_FORTIFY_SOURCE=2 -Wp,-D_GLIBCXX_ASSERTIONS -specs=/usr/lib/rpm/redhat/redhat-hardened-cc1 -fstack-protector-strong -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1  -m64 -march=x86-64-v2 -mtune=generic -fasynchronous-unwind-tables -fstack-clash-protection -fcf-protection -fmessage-length=0 -fopenmp -std=c++17 -DNDEBUG -std=gnu++17 -fPIC   -Wall -Wno-unknown-pragmas -fPIC -fopenmp -MD -MT corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o -MF CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o.d -o CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o -c /builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/corelib/src/optimizer/OptimizerGTSAM.cpp
06:38:23 DEBUG: In file included from /opt/ros/jazzy/include/gtsam/global_includes.h:22,
06:38:23 DEBUG:                  from /opt/ros/jazzy/include/gtsam/base/Vector.h:28,
06:38:23 DEBUG:                  from /opt/ros/jazzy/include/gtsam/base/Matrix.h:28,
06:38:23 DEBUG:                  from /opt/ros/jazzy/include/gtsam/base/Manifold.h:22,
06:38:23 DEBUG:                  from /opt/ros/jazzy/include/gtsam/geometry/BearingRange.h:21,
06:38:23 DEBUG:                  from /opt/ros/jazzy/include/gtsam/geometry/Pose2.h:23,
06:38:23 DEBUG:                  from /builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/corelib/src/optimizer/OptimizerGTSAM.cpp:39:
06:38:23 DEBUG: /opt/ros/jazzy/include/gtsam/base/types.h:34:10: fatal error: tbb/scalable_allocator.h: No such file or directory
06:38:23 DEBUG:    34 | #include <tbb/scalable_allocator.h>
06:38:23 DEBUG:       |          ^~~~~~~~~~~~~~~~~~~~~~~~~~
06:38:23 DEBUG: compilation terminated.
06:38:23 DEBUG: make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/build.make:947: corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o] Error 1

The 0.21.1 release didn't depend on gtsam ros package, which is why it was building previously.

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matlabbe avatar matlabbe commented on July 17, 2024

It looks like reverting to old version made the ubuntu noble fails: https://build.ros2.org/job/Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary/ for a different reason.

It seems the RHEL issue with GTSAM won't be fixed soon, I don't have any way to test on RHEL (I don't have a subscription) and I really want to keep gtsam dependency for Jazzy on Noble, what if we simply blacklist rtabmap for RHEL? It seems that it has been done in the past for rtabmap on Humble and rhel8 but I don't know who did it or where to do it: https://build.ros2.org/job/Hbin_rhel_el864__rtabmap__rhel_8_x86_64__binary/

Generated at 2024-03-21 22:34:38 -0800 from template 'release/rpm/binarypkg_job.xml.em' but disabled since the package is blacklisted (or not whitelisted) in the configuration file
This project is currently disabled

We could reinstate the latest version working on ubuntu noble while disabling rtabmap for rhel9.

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marcoag avatar marcoag commented on July 17, 2024

Oh, that doesn't seem good. Let me have a look at the options regarding blacklisting for RHEL.

Btw, if you want to test your RHEL builds you can use Alma or Rocky, no license required.

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matlabbe avatar matlabbe commented on July 17, 2024

Thanks for the tip, I could reproduce the GTSAM issue with a simple Dockerfile. See borglab/gtsam#1769

I suggested them a fix, you may comment if it makes sense.

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marcoag avatar marcoag commented on July 17, 2024

Nice, looking good. Thanks for the fast fix. Since there's an upstream fix on the way I might not eve blacklist this and just revert to the noble working version.

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matlabbe avatar matlabbe commented on July 17, 2024

To avoid waiting for next gtsam release, I just removed gtsam dependency in that new release ros/rosdistro#41892 for jazzy.

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