ros-gbp/cartographer-release

release repository for google cartographer

cartographer-release's Issues

Melodic cartographer package erroneously installs libgtest.a

While doing some testing on Melodic, I noticed that if I have the ros-melodic-cartographer package installed, the tests for other packages seem to start failing. The one I noticed this on was urdf, but this may affect other tests as well.

Steps to reproduce:

1. Setup a bionic machine/container with Melodic: http://wiki.ros.org/melodic/Installation/Ubuntu (note that installing ros-melodic-desktop won't work quite yet, but just install ros-melodic-*)
2. Setup a catkin workspace with urdf in it (melodic-devel branch):

$ mkdir -p ~/cart_bug/src
$ cd ~/cart_bug/src
$ git clone https://github.com/ros/urdf
$ cd urdf
$ git checkout melodic-devel

1. Comment out temporary workaround line: https://github.com/ros/urdf/blob/melodic-devel/urdf/CMakeLists.txt#L64
2. Build the workspace, including tests:

$ cd ~/cart_bug
$ . /opt/ros/melodic/setup.bash
$ catkin_make
$ catkin_make tests

In my build, this ends up with:

[ 44%] Linking CXX executable /home/ubuntu/cart-bug/devel/lib/urdf/urdfdom_compatibility_test
[ 66%] Built target test_model_parser_initxml
[ 88%] Built target test_urdf_parser
/opt/ros/melodic/lib/libgtest.a(gtest-all.cc.o): In function `testing::internal::UnitTestImpl::~UnitTestImpl()':
(.text+0xb65d): undefined reference to `pthread_getspecific'
(.text+0xb676): undefined reference to `pthread_key_delete'
(.text+0xb77a): undefined reference to `pthread_getspecific'
(.text+0xb793): undefined reference to `pthread_key_delete'
/opt/ros/melodic/lib/libgtest.a(gtest-all.cc.o): In function `testing::internal::UnitTestImpl::UnitTestImpl(testing::UnitTest*)':
(.text+0x103fe): undefined reference to `pthread_key_create'
(.text+0x105bb): undefined reference to `pthread_key_create'
/opt/ros/melodic/lib/libgtest.a(gtest-all.cc.o): In function `testing::internal::ThreadLocal<testing::TestPartResultReporterInterface*>::~ThreadLocal()':
(.text._ZN7testing8internal11ThreadLocalIPNS_31TestPartResultReporterInterfaceEED2Ev[_ZN7testing8internal11ThreadLocalIPNS_31TestPartResultReporterInterfaceEED5Ev]+0x1c): undefined reference to `pthread_getspecific'
(.text._ZN7testing8internal11ThreadLocalIPNS_31TestPartResultReporterInterfaceEED2Ev[_ZN7testing8internal11ThreadLocalIPNS_31TestPartResultReporterInterfaceEED5Ev]+0x31): undefined reference to `pthread_key_delete'
/opt/ros/melodic/lib/libgtest.a(gtest-all.cc.o): In function `testing::internal::ThreadLocal<std::vector<testing::internal::TraceInfo, std::allocator<testing::internal::TraceInfo> > >::~ThreadLocal()':
(.text._ZN7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEED2Ev[_ZN7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEED5Ev]+0x1c): undefined reference to `pthread_getspecific'
(.text._ZN7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEED2Ev[_ZN7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEED5Ev]+0x31): undefined reference to `pthread_key_delete'
/opt/ros/melodic/lib/libgtest.a(gtest-all.cc.o): In function `testing::internal::ThreadLocal<std::vector<testing::internal::TraceInfo, std::allocator<testing::internal::TraceInfo> > >::GetOrCreateValue() const':
(.text._ZNK7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEE16GetOrCreateValueEv[_ZNK7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEE16GetOrCreateValueEv]+0x1c): undefined reference to `pthread_getspecific'
(.text._ZNK7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEE16GetOrCreateValueEv[_ZNK7testing8internal11ThreadLocalISt6vectorINS0_9TraceInfoESaIS3_EEE16GetOrCreateValueEv]+0xa1): undefined reference to `pthread_setspecific'
/opt/ros/melodic/lib/libgtest.a(gtest-all.cc.o): In function `testing::internal::ThreadLocal<testing::TestPartResultReporterInterface*>::GetOrCreateValue() const':
(.text._ZNK7testing8internal11ThreadLocalIPNS_31TestPartResultReporterInterfaceEE16GetOrCreateValueEv[_ZNK7testing8internal11ThreadLocalIPNS_31TestPartResultReporterInterfaceEE16GetOrCreateValueEv]+0x1e): undefined reference to `pthread_getspecific'
(.text._ZNK7testing8internal11ThreadLocalIPNS_31TestPartResultReporterInterfaceEE16GetOrCreateValueEv[_ZNK7testing8internal11ThreadLocalIPNS_31TestPartResultReporterInterfaceEE16GetOrCreateValueEv]+0x93): undefined reference to `pthread_setspecific'
collect2: error: ld returned 1 exit status
urdf/urdf/CMakeFiles/urdfdom_compatibility_test.dir/build.make:95: recipe for target '/home/ubuntu/cart-bug/devel/lib/urdf/urdfdom_compatibility_test' failed
make[3]: *** [/home/ubuntu/cart-bug/devel/lib/urdf/urdfdom_compatibility_test] Error 1
CMakeFiles/Makefile2:1170: recipe for target 'urdf/urdf/CMakeFiles/urdfdom_compatibility_test.dir/all' failed
make[2]: *** [urdf/urdf/CMakeFiles/urdfdom_compatibility_test.dir/all] Error 2
CMakeFiles/Makefile2:76: recipe for target 'CMakeFiles/tests.dir/rule' failed
make[1]: *** [CMakeFiles/tests.dir/rule] Error 2
Makefile:175: recipe for target 'tests' failed
make: *** [tests] Error 2

Removing ros-melodic-cartographer and repeating the above allows it to succeed.

It looks to me like the ros-melodic-cartographer package is erroneously installing /opt/ros/melodic/lib/libgtest.a, /opt/ros/melodic/lib/libgtest_main.a, /opt/ros/melodic/lib/libgmock.a, and /opt/ros/melodic/lib/libgmock_main.a, and it seems like it probably should not do that.

ceres-solver needs to be backported to xenial 32bit

This is the reason the jobs are failing on the farm at the moment http://build.ros.org/job/Kbin_uX32__cartographer__ubuntu_xenial_i386__binary/