ros-gbp/cartographer_ros-release

Release repository for cartographer_ros (https://github.com/googlecartographer/cartographer_ros)

cartographer_ros-release's Issues

Deb dependency does not specify version

The deb package ros-melodic-cartographer-ros does not depend on a specific version of ros-melodic-cartographer, but it will only run with the same major version.
This is also the case for the packages ros-melodic-cartographer-ros-msgs and ros-melodic-cartographer-rviz.
(See control file in http://repositories.ros.org/ubuntu/testing/pool/main/r/ros-melodic-cartographer-ros/ros-melodic-cartographer-ros_1.0.0-0bionic.debian.tar.xz)

I am not sure if version dependencies are commonly specified in ROS packages.
Of course, sudo apt-get upgrade will update all these packages to the latest version, and it will just work.

"cartographer_node" received signal SIGILL, Illegal instruction.

We installed the ros-melodic-cartographer-ros package from the ros-shadow-fixed repository and it seems none of the binaries can be run as they crash with an "Illegal instruction" error.

Reproduced on two systems:

uname -a
Linux lenovo-Y50 4.15.0-22-generic #24-Ubuntu SMP Wed May 16 12:15:17 UTC 2018 x86_64 x86_64 x86_64 GNU/Linux

and

uname -a
Linux ubuntu 4.15.0-22-generic #24-Ubuntu SMP Wed May 16 12:15:17 UTC 
2018 x86_64 x86_64 x86_64 GNU/Linux

lsb_release -a
No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 18.04 LTS
Release:	18.04
Codename:	bionic

Observation: file produces different signatures for the cartographer and the other ROS melodic binaries

file /opt/ros/melodic/bin/cartographer_occupancy_grid_node 
/opt/ros/melodic/bin/cartographer_occupancy_grid_node: ELF 64-bit LSB shared object, x86-64, version 1 (GNU/Linux), dynamically linked, interpreter /lib64/ld-linux-x86-64.so.2, for GNU/Linux 3.2.0, BuildID[sha1]=b46d61360a0b88eda46f3dd4e9526899e769f18c, stripped

file /opt/ros/melodic/bin/rviz
/opt/ros/melodic/bin/rviz: ELF 64-bit LSB shared object, x86-64, version 1 (SYSV), dynamically linked, interpreter /lib64/ld-linux-x86-64.so.2, for GNU/Linux 3.2.0, BuildID[sha1]=586128baac0a81db175b2968490a8c9bc8538944, stripped

cartographer_node

Starting program: /opt/ros/melodic/lib/cartographer_ros/cartographer_node -configuration_directory /opt/ros/melodic/share/cartographer_ros/configuration_files -configuration_basename backpack_2d.lua
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffe9dc0700 (LWP 18715)]
[New Thread 0x7fffe95bf700 (LWP 18716)]
[New Thread 0x7fffe8dbe700 (LWP 18717)]
[New Thread 0x7fffe3fff700 (LWP 18718)]

Thread 1 "cartographer_no" received signal SIGILL, Illegal instruction.
0x0000555555666598 in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > std::operator+<char, std::char_traits<char>, std::allocator<char> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, char const*) ()
(gdb) bt
#0  0x0000555555666598 in std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > std::operator+<char, std::char_traits<char>, std::allocator<char> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, char const*) ()
#1  0x00007ffff5b315a1 in ros::start() () from /opt/ros/melodic/lib/libroscpp.so
#2  0x000055555564e167 in main ()

cartographer_rosbag_validate

Starting program: /opt/ros/melodic/lib/cartographer_ros/cartographer_rosbag_validate -bag_filename /home/gaschler/Downloads/b2-2016-04-05-14-44-52.bag
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".

Program received signal SIGILL, Illegal instruction.
cartographer_ros::(anonymous namespace)::LaserScanToPointCloudWithIntensities<sensor_msgs::MultiEchoLaserScan_<std::allocator<void> > > (msg=...)
    at ./cartographer_ros/msg_conversion.cc:104
104	./cartographer_ros/msg_conversion.cc: No such file or directory.
(gdb) bt
#0  cartographer_ros::(anonymous namespace)::LaserScanToPointCloudWithIntensities<sensor_msgs::MultiEchoLaserScan_<std::allocator<void> > > (msg=...)
    at ./cartographer_ros/msg_conversion.cc:104
#1  0x0000555555588a7d in cartographer_ros::ToPointCloudWithIntensities (msg=...) at ./cartographer_ros/msg_conversion.cc:181
#2  0x000055555556e94f in cartographer_ros::(anonymous namespace)::RangeDataChecker::ReadRangeMessage<sensor_msgs::MultiEchoLaserScan_<std::allocator<void> > > (
    to=<synthetic pointer>, from=<synthetic pointer>, range_checksum=0x7fffffffd460, message=...) at ./cartographer_ros/rosbag_validate_main.cc:218
#3  cartographer_ros::(anonymous namespace)::RangeDataChecker::CheckMessage<sensor_msgs::MultiEchoLaserScan_<std::allocator<void> > > (message=..., this=0x7fffffffd370)
    at ./cartographer_ros/rosbag_validate_main.cc:155
#4  cartographer_ros::(anonymous namespace)::Run (bag_filename=..., dump_timing=<optimized out>) at ./cartographer_ros/rosbag_validate_main.cc:275
#5  0x000055555556c7b2 in main (argc=<optimized out>, argv=<optimized out>) at ./cartographer_ros/rosbag_validate_main.cc:423

Build failures on Lunar

Looks like the last release with the Gmock CMake patch fixed the CMake issue. It successfully built on ubuntu xenial for lunar:

• Though the tests were not ran for some reason:

00:09:42.012 The following tests FAILED:
00:09:42.012 	  1 - _ctest_cartographer_ros_gtest_time_conversion_test (Failed)
00:09:42.012 	  2 - _ctest_cartographer_ros_gtest_configuration_files_test (Failed)
00:09:42.012 	  3 - _ctest_cartographer_ros_gtest_msg_conversion_test (Failed)
00:09:42.012 	  4 - _ctest_cartographer_ros_gtest_occupancy_grid_test (Failed)

If fails to link on Debian, I think we're hitting ros-perception/perception_pcl#139. We'll likely need to patch CMake and package.xml to fix it (either the ugly way by injecting new depndency (https://github.com/ros-planning/navigation/pull/578/files), or by removing the targets causing the issues if we don't use them (https://github.com/ros-perception/perception_pcl/pull/151/files))

@k-okada @7675t FYI