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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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[Bug] SITL targets not getting built #21788

Open toddkuen opened 1 year ago

toddkuen commented 1 year ago

Describe the bug

Error occurs for all of these: $ make px4_sitl gazebo-classic $ make px4_sitl gazebo $ make px4_sitl jmavsim $ make px4_sitl_default

Build on Mac OSX 13.4.1 M1, Xcode 14.3.1 Gazebo is installed and runs. No ROS $ javac -version javac 20.0.1 Followed: https://docs.px4.io/main/en/dev_setup/dev_env_mac.html brew informs tbb@2020 is not supported, I am using tbb@2021 QGroundControl installed and running cloned and installed PX4-Autopilot without errors (at least that I can see):

$ make px4_sitl gazebo-classic
[ 0%] Built target events_header [ 1%] Built target flighttasks_generated [ 1%] Building C object boards/px4/sitl/src/CMakeFiles/drivers_board.dir/sitl_led.c.o [ 1%] Built target uorb_headers [ 1%] Built target output_functions_header [ 1%] Built target git_gps_devices [ 1%] Generating git version header [ 2%] Built target mode_util [ 3%] Built target parameters_xml /Users/toddkuen/Thread/PX4/PX4-Autopilot/boards/px4/sitl/src/sitl_led.c:53:23: fatal error: a function declaration without a prototype is deprecated in all versions of C [-Wstrict-prototypes] __EXPORT void led_init() ^ void 1 error generated.

Fixing that I get the following error:

$ make px4_sitl gazebo-classic [ 1%] Built target events_header [ 1%] Built target flighttasks_generated [ 1%] Building C object boards/px4/sitl/src/CMakeFiles/drivers_board.dir/sitl_led.c.o [ 1%] Built target uorb_headers [ 1%] Generating git version header [ 1%] Built target git_gps_devices [ 1%] Built target output_functions_header [ 2%] Built target mode_util [ 3%] Built target parameters_xml make[4]: No rule to make target src/modules/uxrce_dds_client/dds_topics.h', needed byevents/px4.json'. Stop. make[3]: [src/lib/events/CMakeFiles/events_json.dir/all] Error 2 make[3]: Waiting for unfinished jobs.... [ 3%] Built target actuators_json [ 3%] Linking CXX static library libdrivers_board.a [ 3%] Built target drivers_board [ 3%] Built target ver_gen make[2]: [src/modules/simulation/simulator_mavlink/CMakeFiles/gazebo-classic.dir/rule] Error 2 make[1]: [gazebo-classic] Error 2 make: [px4_sitl] Error 2

dds_topics.h seems to be part of git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git This does not build on an M1.

There isn't much if anything on these errors in google, etc. so it's likely some kind of local to my machine config error but I have no idea what.

I have this working on Ubuntu - the install was broken there but I was able to figure out various missing python and other components.

$ make distclean $ make px4_sitl gazebo make px4_sitl gazebo
-- PX4 version: v1.14.0-beta2-288-g0196241c10 (1.14.0) -- Found PythonInterp: /usr/local/bin/python3 (found suitable version "3.7.9", minimum required is "3") -- PX4 config file: /Users/toddkuen/Thread/PX4/PX4-Autopilot/boards/px4/sitl/default.px4board -- PLATFORM posix -- ROMFSROOT px4fmu_common -- ROOTFSDIR . -- TESTING y -- ETHERNET y -- PX4 config: px4_sitl_default -- PX4 platform: posix -- PX4 lockstep: enabled -- The CXX compiler identification is AppleClang 14.0.3.14030022 -- The C compiler identification is AppleClang 14.0.3.14030022 -- The ASM compiler identification is Clang with GNU-like command-line -- Found assembler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc - skipped -- Detecting C compile features -- Detecting C compile features - done -- cmake build type: RelWithDebInfo -- ccache enabled (export CCACHE_DISABLE=1 to disable) /usr/local/bin/gettext.sh: line 89: /usr/local/bin/gettext: Bad CPU type in executable /usr/local/bin/gettext.sh: line 89: /usr/local/bin/envsubst: Bad CPU type in executable

Build completes without error but this seems like a possible contributor to the issue.

EDIT: Part of the problem seems to be that my brew has some older x86_64 attachments. I also set a specific version of PX4 with git to 13.X.X. Reinstalled brew as M1. Installed some more python packages. Now I am fixing tons of sprintf -> snprintf calls.

EDIT2: After a lot of reinstall/redo I think I have things mostly cleaned up. Now I am stuck on installing libxml2 2.7 - XCode seems to install a 2.6.27 version which does not work.

It's hard to believe this ever worked...

To Reproduce

I would imagine this will not easily reproduce...

Expected behavior

It should build and fire up the sim on gazebo.

Screenshot / Media

No response

Flight Log

N/A

Software Version

Trying to do initial install of STIL Gazebo sim on Mac.

Flight controller

None

Vehicle type

None

How are the different components wired up (including port information)

No response

Additional context

No response

chuangniu1 commented 1 year ago

@toddkuen Have you made any progress on this problem？bu t I'm using intel kernel Mac It has the same problem. After I reinstalled the system and pulled the repository, I configured the environment according to https://dev.px4.io/v1.11_noredirect/zh/setup/dev_env_mac.html __EXPORT void led_init() ^ void 1 error generated. but the same problem occurred in compilation->make px4_sitl_default jmavsim

sprintf -> snprintf error exist when build my private old repository. ->make px4_sitl_default jmavsim

MacBook-Pro PX4-Autopilot % make px4_sitl_default jmavsim -- PX4 version: v1.11.3-1-g21c82a4814 -- PX4 config file: /Users/Desktop/niucode/px4_open/PX4-Autopilot/boards/px4/sitl/default.cmake -- PX4 config: px4_sitl_default -- PX4 platform: posix -- PX4 lockstep: enabled -- cmake build type: RelWithDebInfo -- The CXX compiler identification is AppleClang 14.0.3.14030022 -- The C compiler identification is AppleClang 14.0.3.14030022 -- The ASM compiler identification is Clang with GNU-like command-line -- Found assembler: /Library/Developer/CommandLineTools/usr/bin/cc -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: /Library/Developer/CommandLineTools/usr/bin/c++ - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: /Library/Developer/CommandLineTools/usr/bin/cc - skipped -- Detecting C compile features -- Detecting C compile features - done -- Building for code coverage -- ccache enabled (export CCACHE_DISABLE=1 to disable) -- Found PythonInterp: /usr/local/bin/python3 (found suitable version "3.9.17", minimum required is "3") -- build type is RelWithDebInfo -- PX4 ECL: Very lightweight Estimation & Control Library v1.9.0-rc1-404-g395c8d3 -- Configuring done (8.2s) -- Generating done (1.1s) -- Build files have been written to: /Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/build/px4_sitl_default [0/739] git submodule src/drivers/gps/devices [5/739] git submodule src/lib/ecl [6/739] Building C object boards/px4/sitl/src/CMakeFiles/drivers_board.dir/sitl_led.c.o FAILED: boards/px4/sitl/src/CMakeFiles/drivers_board.dir/sitl_led.c.o /usr/local/bin/ccache /Library/Developer/CommandLineTools/usr/bin/cc -DCONFIG_ARCH_BOARD_PX4_SITL -DENABLE_LOCKSTEP_SCHEDULER -DCUSTOM_FILE_IO -DPX4_DARWIN -D__PX4_POSIX -DSTDC_FORMAT_MACROS -Dnoreturn_function="attribute((noreturn))" -I/Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/boards/px4/sitl/src -I/Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/platforms/posix/src/px4/common/include -I/Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/build/px4_sitl_default -I/Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/build/px4_sitl_default/src/lib -I/Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/platforms/posix/src/px4/generic/generic/include -I/Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/platforms/common/include -I/Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/src -I/Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/src/include -I/Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/src/lib -I/Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/src/lib/matrix -I/Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/src/modules -I/Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/platforms/posix/include -I/Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/build/px4_sitl_default/external/Install/include -O2 -g -DNDEBUG -std=gnu11 -isysroot /Library/Developer/CommandLineTools/SDKs/MacOSX13.3.sdk -fPIC -g -fdata-sections -ffunction-sections -fomit-frame-pointer -fmerge-all-constants -fno-signed-zeros -fno-trapping-math -freciprocal-math -fno-math-errno -fno-strict-aliasing -fvisibility=hidden -include visibility.h -Wall -Wextra -Werror -Warray-bounds -Wcast-align -Wdisabled-optimization -Wdouble-promotion -Wfatal-errors -Wfloat-equal -Wformat-security -Winit-self -Wlogical-op -Wpointer-arith -Wshadow -Wuninitialized -Wunknown-pragmas -Wunused-variable -Wno-missing-field-initializers -Wno-missing-include-dirs -Wno-unused-parameter -Wno-logical-op -fcolor-diagnostics -fdiagnostics-absolute-paths -Qunused-arguments -Wno-unknown-warning-option -Wno-unused-const-variable -Wno-varargs -fno-common -Wbad-function-cast -Wnested-externs -Wstrict-prototypes -MD -MT boards/px4/sitl/src/CMakeFiles/drivers_board.dir/sitl_led.c.o -MF boards/px4/sitl/src/CMakeFiles/drivers_board.dir/sitl_led.c.o.d -o boards/px4/sitl/src/CMakeFiles/drivers_board.dir/sitl_led.c.o -c /Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/boards/px4/sitl/src/sitl_led.c /Users/chuangniu/Desktop/niucode/px4_open/PX4-Autopilot/boards/px4/sitl/src/sitl_led.c:53:23: fatal error: a function declaration without a prototype is deprecated in all versions of C [-Wstrict-prototypes] __EXPORT void led_init() ^ void 1 error generated. [13/739] Generating uORB topic headers ninja: build stopped: subcommand failed. make: *** [px4_sitl_default] Error 1

bousborne commented 1 year ago

@chuangniu1 I had this problem a few weeks ago. I think it has something to do with the newer SDKs on MacOS. They seem much stricter in their warning-to-error translations.

This is a "workaround", and not really a fix: To fix it, I first installed MacOS sdk 12, but I found that somewhere, something, was actually still linking MacOS SDK 13 to my default. Therefore I still had the problem as clang would see and use 13, even though I set 12 to default. So, I ended up deleting all references to SDK 13, and it works now. But, make sure you don't have any other projects that need to be built on 13 before doing this.

You can do this either with xcode-select on the cli, or through Xcode.

Through cli do:

xcode-select --install  # <-- This installs sdk 12 adn 13
xcode-select -p          # <-- This will print the install location for both 12 and 13

cd to that location and delete all directories for sdk 13.

Then try to build again.

andrejpodzimek commented 7 months ago

The src/modules/uxrce_dds_client/dds_topics.h problem definitely rings the bell, but I’m seeing it on ArchLinux, i.e. nothing OS X related. It is mentioned in a few other threads, but there doesn’t seem to be a clear explanation.

My workaround is based on looking into src/modules/uxrce_dds_client/CMakeLists.txt, which is where the auto-generated file is specified like this:

add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h
    COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_dds_topics.py
        --topic-msg-dir ${PX4_SOURCE_DIR}/msg
        --client-outdir ${CMAKE_CURRENT_BINARY_DIR}
        --dds-topics-file ${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.yaml
        --template_file ${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.h.em
    DEPENDS
        ${CMAKE_CURRENT_SOURCE_DIR}/generate_dds_topics.py
        ${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.yaml
        ${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.h.em
    COMMENT "Generating XRCE-DDS topic bridge"
)

Based on that↑ recipe, I simply reproduced what it tells (or should tell) cmake + make to do, but manually:

mkdir build
cd build
cmake ..
make  # <<< Fails!

python \
    ../src/modules/uxrce_dds_client/generate_dds_topics.py \
    --topic-msg-dir ../msg \
    --client-outdir ./src/modules/uxrce_dds_client/ \
    --dds-topics-file ../src/modules/uxrce_dds_client/dds_topics.yaml \
    --template_file ../src/modules/uxrce_dds_client/dds_topics.h.em

make  # <<< Works!

It is unclear to me why cmake doesn’t get this right. Everything else seems to be working fine in the (default) build after the hack / workaround.

This is on ArchLinux, up-to-date, today’s PX4-Autopilot, with ros2-arch-deps installed and with requirements.txt applied (meaning: sed 's/[^a-z].*$//' ../Tools/setup/requirements.txt | while read p; do paru -Sy --noconfirm --needed "python-${p}"; done and, on top of that, pip3 install --break-system-packages --user pyros-genmsg, because pyros-genmsg is not in AUR). cmake version is 3.28.2.

andrejpodzimek commented 6 months ago

After today’s git pull I can’t reproduce the problem on ArchLinux any more. Looks like it’s fixed. (I can’t spot the commit that fixed it though, which is puzzling (i.e. I have no understanding of the root cause).)

mengchaoheng commented 6 months ago

通过 cli 执行以下操作：

xcode-select --install  # <-- This installs sdk 12 adn 13
xcode-select -p          # <-- This will print the install location for both 12 and 13

cd 到该位置并删除 sdk 13 的所有目录。

when I run this:

➜  PX4-Autopilot git:(jint) ✗ xcode-select --install
xcode-select: note: Command line tools are already installed. Use "Software Update" in System Settings or the softwareupdate command line interface to install updates
➜  PX4-Autopilot git:(jint) ✗ xcode-select -p
/Library/Developer/CommandLineTools

and 

➜  PX4-Autopilot git:(jint) ✗ cd /Library/Developer/CommandLineTools

➜  CommandLineTools ls
Library SDKs    usr
➜  CommandLineTools cd SDKs 
➜  SDKs ls
MacOSX.sdk     MacOSX13.3.sdk MacOSX13.sdk   MacOSX14.2.sdk MacOSX14.sdk
➜  SDKs

which one I should delete ? @bousborne

chuangniu1 commented 4 months ago

@mengchaoheng old command line version clang --version Apple clang version 14.0.3 (clang-1403.0.22.14.1) Target: x86_64-apple-darwin22.5.0 Thread model: posix InstalledDir: /Library/Developer/CommandLineTools/usr/bin

I upload clang-14.0.0 and install link: https://developer.apple.com/download/all/

after install, and clang --version Apple clang version 14.0.0 (clang-1400.0.29.102) Target: x86_64-apple-darwin22.5.0 Thread model: posix InstalledDir: /Library/Developer/CommandLineTools/usr/bin

then, delete SDKs ->MacOSX13

then, can make

david-rse commented 3 months ago

Figured out a solution for this:

Long story short add modules__uxrce_dds_client as a DEPENDS line to add_custom_command(OUTPUT ${generated_events_px4_file} of src/lib/events/CMakeLists.txt.

To diagnosis, I ran the following: cmake -DCMAKE_VERBOSE_MAKEFILE=ON cmake .

And inspected the last command which failed:

make -f src/lib/events/CMakeFiles/events_json.dir/build.make src/lib/events/CMakeFiles/events_json.dir/build

and noted that the events module was failing compilation due to dds_topics.h not existing. And realized that this header should be generated via python-empy templating from dds_topics.h.em. Meaning that the uxrce_dds_client module is needed as a prerequisite and build should precede the events module - which currently isn't happening.

image

So to add the dds project as a dependency to px4.json file that is being built, edit src/lib/events/CMakeLists.txt and add the following modules__uxrce_dds_client as a dependency to the generated_events_px4_file custom command.

image

Run cmake . again and make Cheers