Finding that colcon build fails without Vitis tools being installed

kevinkeryk commented 2 years ago

I want to validate that colcon can build the dependencies for simulation to run on the workstation without the need for Vitis tools (think of a user going through the Out-of-Box exercise to see the connected target board running our pre-built binaries) and I am following these instructions for install here:

https://xilinx.github.io/KRS/sphinx/build/html/docs/install.html

I am encountering this error during the colcon build step when I do not source the /tools/Xilinx/Vitis/2021.2/settings64.sh script:

--- stderr: image_proc
In file included from /home/training/krs_ws/install/include/vitis_common/common/xf_common.hpp:20,
                 from /home/training/krs_ws/install/include/vitis_common/common/xf_sw_utils.hpp:20,
                 from /home/training/krs_ws/install/include/vitis_common/common/xf_headers.hpp:28,
                 from /home/training/krs_ws/src/perception/image_pipeline/image_proc/src/resize_fpga.cpp:32:
/home/training/krs_ws/install/include/vitis_common/common/xf_structs.hpp:27:10: fatal error: ap_axi_sdata.h: No such file or directory
   27 | #include "ap_axi_sdata.h"
      |          ^~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/resize_fpga.dir/build.make:63: CMakeFiles/resize_fpga.dir/src/resize_fpga.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:420: CMakeFiles/resize_fpga.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< image_proc [1.01s, exited with code 2]

Steps to recreate this error under Ubuntu 20.04 LTS workstation:

Open a new Terminal
Change to KRS workspace with cd ~/krs_ws
Remove workspace build and install folders rm -rf build install to eliminate intermediate results
Source ROS 2 installation source /opt/ros/rolling/setup.bash to setup environment for building
Adjust path for Cmake export PATH="/usr/bin":$PATH to call the correct Cmake version
Run colcon build colcon build --merge-install to start building dependency packages

It is my understanding that the host components can be built without any Vitis dependencies. Anyone else seeing a similar issue?

vmayoral commented 2 years ago

A super quick fix is to obviously use the colcon flags to ignore the failing package since it's not needed for the flow you're trying to enable but I believe we should probably get to the root of this. Spent the whole morning looking at this, haven't been able to find the issue so far. Will continue looking at it this afternoon.

vmayoral commented 2 years ago

All right, after quite a few hours, tracked down the error. Essentially the beta branch in ament_vitis doesn't include fixes to detect board-specific that I've recently introduced. Accordingly, right now, the CMake logic is not stopping the workstation from entering in the ROS_VITIS which leads to the error you're observing since that's not getting built.

Fixes for this issue are available today in main branches of various of the packages involved (ament_vitis, vitis_common, image_pipeline).

Once the next release is out, this problem should dissapear but I won't be making another beta release since that's very costly.

kevinkeryk commented 2 years ago

Thank you for checking into this @vmayoral and I had a follow-up question on this.

Should I simply update these lines in my krs_rolling.repos before I build with colcon if I wish to continue testing with beta otherwise?

  acceleration/ament_vitis:
    type: git
    url: https://github.com/ros-acceleration/ament_vitis
    version: main

I am following the beta instructions here: https://github.com/Xilinx/KRS/blob/main/sphinx/source/docs/install.md

vmayoral commented 2 years ago

No, that’ll clash with other dependencies. It’ll require a whole (chained) release of packages.

Let me think if I can have the code ignored for the workstation flow solely using CMake logic, BUT it’ll be hack only for you. This has been already properly fixed in main branches.

El El mié, 13 abr 2022 a las 22:46, Kevin Keryk @.***> escribió:

Thank you for checking into this @vmayoral https://github.com/vmayoral and I had a follow-up question on this.

Should I simply update these lines in my krs_rolling.repos before I build with colcon if I wish to continue testing with beta otherwise?

acceleration/ament_vitis: type: git url: https://github.com/ros-acceleration/ament_vitis version: main

I am following the beta instructions here: https://github.com/Xilinx/KRS/blob/main/sphinx/source/docs/install.md

— Reply to this email directly, view it on GitHub https://github.com/Xilinx/KRS/issues/55#issuecomment-1098473002, or unsubscribe https://github.com/notifications/unsubscribe-auth/AAKPYDXIPP5TVDKCCEONRSLVE4XDZANCNFSM5TIAIA3Q . You are receiving this because you were mentioned.Message ID: @.***>

vmayoral commented 2 years ago

All right, so I spent a while again looking at this and created https://github.com/ros-acceleration/image_pipeline/tree/beta2, which addresses your direct problem above. The issue though (as indicated above), is that as I was fearing, this is triggered other packages to crash with dumps like the following one:

Finished <<< perception_2nodes [9.80s]
--- stderr: image_pipeline_examples
WARNING: XILINX_VITIS is not defined, hardware acceleration disabled.
WARNING: XILINX_VIVADO is not defined, hardware acceleration disabled.
WARNING: XILINX_HLS is not defined, hardware acceleration disabled.
/usr/bin/ld: CMakeFiles/rectify_resize_fpga_integrated_streamlined_node.dir/src/rectify_resize_fpga_integrated_streamlined_node.cpp.o: in function `void __gnu_cxx::new_allocator<image_proc::RectifyResizeNodeFPGAStreamlined>::construct<image_proc::RectifyResizeNodeFPGAStreamlined, rclcpp::NodeOptions>(image_proc::RectifyResizeNodeFPGAStreamlined*, rclcpp::NodeOptions&&)':
/usr/include/c++/9/ext/new_allocator.h:146: undefined reference to `image_proc::RectifyResizeNodeFPGAStreamlined::RectifyResizeNodeFPGAStreamlined(rclcpp::NodeOptions const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rectify_resize_fpga_integrated_streamlined_node.dir/build.make:257: rectify_resize_fpga_integrated_streamlined_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:248: CMakeFiles/rectify_resize_fpga_integrated_streamlined_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: CMakeFiles/rectify_resize_fpga_integrated_node.dir/src/rectify_resize_fpga_integrated_node.cpp.o: in function `void __gnu_cxx::new_allocator<image_proc::RectifyResizeNodeFPGA>::construct<image_proc::RectifyResizeNodeFPGA, rclcpp::NodeOptions>(image_proc::RectifyResizeNodeFPGA*, rclcpp::NodeOptions&&)':
/usr/include/c++/9/ext/new_allocator.h:146: undefined reference to `image_proc::RectifyResizeNodeFPGA::RectifyResizeNodeFPGA(rclcpp::NodeOptions const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rectify_resize_fpga_integrated_node.dir/build.make:257: rectify_resize_fpga_integrated_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:167: CMakeFiles/rectify_resize_fpga_integrated_node.dir/all] Error 2
/usr/bin/ld: CMakeFiles/rectify_resize_fpga_node.dir/src/rectify_resize_fpga_node.cpp.o: in function `void __gnu_cxx::new_allocator<image_proc::RectifyNodeFPGA>::construct<image_proc::RectifyNodeFPGA, rclcpp::NodeOptions&>(image_proc::RectifyNodeFPGA*, rclcpp::NodeOptions&)':
/usr/include/c++/9/ext/new_allocator.h:146: undefined reference to `image_proc::RectifyNodeFPGA::RectifyNodeFPGA(rclcpp::NodeOptions const&)'
/usr/bin/ld: CMakeFiles/rectify_resize_fpga_node.dir/src/rectify_resize_fpga_node.cpp.o: in function `void __gnu_cxx::new_allocator<image_proc::ResizeNodeFPGA>::construct<image_proc::ResizeNodeFPGA, rclcpp::NodeOptions&>(image_proc::ResizeNodeFPGA*, rclcpp::NodeOptions&)':
/usr/include/c++/9/ext/new_allocator.h:146: undefined reference to `image_proc::ResizeNodeFPGA::ResizeNodeFPGA(rclcpp::NodeOptions const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rectify_resize_fpga_node.dir/build.make:257: rectify_resize_fpga_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:140: CMakeFiles/rectify_resize_fpga_node.dir/all] Error 2
/usr/bin/ld: CMakeFiles/rectify_resize_fpga_streamlined_node.dir/src/rectify_resize_fpga_streamlined_node.cpp.o: in function `void __gnu_cxx::new_allocator<image_proc::RectifyNodeFPGAStreamlined>::construct<image_proc::RectifyNodeFPGAStreamlined, rclcpp::NodeOptions&>(image_proc::RectifyNodeFPGAStreamlined*, rclcpp::NodeOptions&)':
/usr/include/c++/9/ext/new_allocator.h:146: undefined reference to `image_proc::RectifyNodeFPGAStreamlined::RectifyNodeFPGAStreamlined(rclcpp::NodeOptions const&)'
/usr/bin/ld: CMakeFiles/rectify_resize_fpga_streamlined_node.dir/src/rectify_resize_fpga_streamlined_node.cpp.o: in function `void __gnu_cxx::new_allocator<image_proc::ResizeNodeFPGAStreamlined>::construct<image_proc::ResizeNodeFPGAStreamlined, rclcpp::NodeOptions&>(image_proc::ResizeNodeFPGAStreamlined*, rclcpp::NodeOptions&)':
/usr/include/c++/9/ext/new_allocator.h:146: undefined reference to `image_proc::ResizeNodeFPGAStreamlined::ResizeNodeFPGAStreamlined(rclcpp::NodeOptions const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rectify_resize_fpga_streamlined_node.dir/build.make:257: rectify_resize_fpga_streamlined_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:194: CMakeFiles/rectify_resize_fpga_streamlined_node.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< image_pipeline_examples [21.7s, exited with code 2]
Aborted  <<< image_proc_adaptive [22.8s]
Aborted  <<< gazebo_ros [1min 30s]

Summary: 86 packages finished [3min 51s]
  1 package failed: image_pipeline_examples
  2 packages aborted: gazebo_ros image_proc_adaptive
  50 packages had stderr output: accelerated_doublevadd_publisher ament_clang_format ament_clang_tidy ament_copyright ament_cppcheck ament_cpplint ament_flake8 ament_lint ament_lint_cmake ament_mypy ament_pclint ament_pep257 ament_pycodestyle ament_pyflakes ament_uncrustify ament_xmllint camera_calibration colcon-hardware-acceleration depth_image_proc doublevadd_publisher faster_doublevadd_publisher image_pipeline_examples image_proc image_proc_adaptive image_rotate launch launch_pytest launch_testing launch_xml launch_yaml multiple_doublevadd_publisher offloaded_doublevadd_publisher opencv_tests perception_2nodes ros2acceleration ros2trace simple_adder streaming_k2k_mm_xrt test_tracetools test_tracetools_launch tracetools tracetools_acceleration tracetools_image_pipeline tracetools_launch tracetools_read tracetools_test tracetools_trace triplevadd_publisher vadd_publisher vitis_common

Anyhow, I threw the whole morning for you @kevinkeryk and here's the updated branches you'll need to consider if you wish to have everything building in a workstation. With this, you're good to go to build things without hurdles in the workstation:

The following list of packages does it for me:

krs_beta2.repos

```bash cat << 'EOF' > krs_rolling_beta2.repos repositories: ros2/ament_lint: type: git url: https://github.com/ament/ament_lint version: master ros2/launch: type: git url: https://github.com/ros2/launch version: master ros2/gazebo_ros_pkgs: type: git url: https://github.com/ros-simulation/gazebo_ros_pkgs version: da14a69e79502cd08064ccd261366ff023a9162a perception/image_common: type: git url: https://github.com/ros-perception/image_common version: 9729de81f7dff6156f644d6152b200f687360f1f perception/image_pipeline: type: git url: https://github.com/ros-acceleration/image_pipeline version: beta2 perception/vision_opencv: type: git url: https://github.com/ros-perception/vision_opencv version: 7bbc5ecc232e8faf36b45efaa2b6bc979b04157f tracing/ros2_tracing: type: git url: https://gitlab.com/ros-tracing/ros2_tracing.git version: master tracing/tracetools_acceleration: type: git url: https://github.com/ros-acceleration/tracetools_acceleration version: main acceleration/acceleration_firmware: type: git url: https://github.com/ros-acceleration/acceleration_firmware version: main acceleration/acceleration_firmware_kv260: type: zip url: https://github.com/ros-acceleration/acceleration_firmware_kv260/releases/download/v0.9.0/acceleration_firmware_kv260.zip acceleration/adaptive_component: type: git url: https://github.com/ros-acceleration/adaptive_component version: main acceleration/ament_acceleration: type: git url: https://github.com/ros-acceleration/ament_acceleration version: main acceleration/ament_vitis: type: git url: https://github.com/ros-acceleration/ament_vitis version: beta acceleration/colcon-acceleration: type: git url: https://github.com/ros-acceleration/colcon-acceleration version: main acceleration/ros2_kria: type: git url: https://github.com/ros-acceleration/ros2_kria version: main acceleration/ros2acceleration: type: git url: https://github.com/ros-acceleration/ros2acceleration version: main acceleration/vitis_common: type: git url: https://github.com/ros-acceleration/vitis_common version: master acceleration/acceleration_examples: type: git url: https://github.com/ros-acceleration/acceleration_examples version: beta2 EOF ```

As a final note, @kevinkeryk, ⚠️ note these are only hot-fixes to support your use case (which implies changing the instructions of the documentation) but a proper fix has already been addressed in main branches. I have not fully tested things functionality-wise, only ensured it builds⚠️.

We will need to wait until I make the next release. For a fully tested complete release (again coherent to documentation, if the flow of the documentation changes (as in this case), of course adjustments will be required).

jasvinderkhurana commented 2 years ago

@vmayoral, is it possible to get a patch before we do a next release? This will help users avoid Vitis dependency in execution of Perception stack application.

vmayoral commented 2 years ago

@vmayoral, is it possible to get a patch before we do a next release? This will help users avoid Vitis dependency in execution of Perception stack application.

@jasvinderkhurana Refer to my previous comment with beta2 for you guys:

krs_rolling_beta2.repos

```bash cat << 'EOF' > krs_rolling_beta2.repos repositories: ros2/ament_lint: type: git url: https://github.com/ament/ament_lint version: master ros2/launch: type: git url: https://github.com/ros2/launch version: master ros2/gazebo_ros_pkgs: type: git url: https://github.com/ros-simulation/gazebo_ros_pkgs version: da14a69e79502cd08064ccd261366ff023a9162a perception/image_common: type: git url: https://github.com/ros-perception/image_common version: 9729de81f7dff6156f644d6152b200f687360f1f perception/image_pipeline: type: git url: https://github.com/ros-acceleration/image_pipeline version: beta2 perception/vision_opencv: type: git url: https://github.com/ros-perception/vision_opencv version: 7bbc5ecc232e8faf36b45efaa2b6bc979b04157f tracing/ros2_tracing: type: git url: https://gitlab.com/ros-tracing/ros2_tracing.git version: master tracing/tracetools_acceleration: type: git url: https://github.com/ros-acceleration/tracetools_acceleration version: main acceleration/acceleration_firmware: type: git url: https://github.com/ros-acceleration/acceleration_firmware version: main acceleration/acceleration_firmware_kv260: type: zip url: https://github.com/ros-acceleration/acceleration_firmware_kv260/releases/download/v0.9.0/acceleration_firmware_kv260.zip acceleration/adaptive_component: type: git url: https://github.com/ros-acceleration/adaptive_component version: main acceleration/ament_acceleration: type: git url: https://github.com/ros-acceleration/ament_acceleration version: main acceleration/ament_vitis: type: git url: https://github.com/ros-acceleration/ament_vitis version: beta acceleration/colcon-acceleration: type: git url: https://github.com/ros-acceleration/colcon-acceleration version: main acceleration/ros2_kria: type: git url: https://github.com/ros-acceleration/ros2_kria version: main acceleration/ros2acceleration: type: git url: https://github.com/ros-acceleration/ros2acceleration version: main acceleration/vitis_common: type: git url: https://github.com/ros-acceleration/vitis_common version: master acceleration/acceleration_examples: type: git url: https://github.com/ros-acceleration/acceleration_examples version: beta2 EOF ```

jasvinderkhurana commented 2 years ago

@kevinkeryk , I assume this problem should be resolved in latest release, So closing the ticket

Xilinx / KRS

Finding that colcon build fails without Vitis tools being installed #55