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clydemcqueen / orca4

ROS2 AUV based on the BlueROV2, ArduSub and Navigation2
MIT License
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Docker build fails during colcon build #26

Closed figuernd closed 3 months ago

figuernd commented 3 months ago

Running build.sh

 => ERROR [26/38] RUN [ "/bin/bash" , "-c" , "  source /opt/ros/humble/setup.bash   && colcon build" ]                                                                                                                                        323.8s 
------                                                                                                                                                                                                                                               
 > [26/38] RUN [ "/bin/bash" , "-c" , "  source /opt/ros/humble/setup.bash   && colcon build" ]:                                                                                                                                                     
#30 1.507 Starting >>> ros_gz_interfaces                                                                                                                                                                                                             
#30 1.519 Starting >>> ros_gz_sim                                                                                                                                                                                                                    
#30 1.524 Starting >>> bluerov2_ignition                                                                                                                                                                                                             
#30 1.530 Starting >>> orb_slam2_ros                                                                                                                                                                                                                 
#30 1.536 Starting >>> ros2_shared
#30 6.170 Finished <<< bluerov2_ignition [4.65s]
#30 8.278 Finished <<< ros2_shared [6.74s]
#30 37.45 Finished <<< ros_gz_sim [35.9s]
#30 37.45 Starting >>> ros_ign_gazebo
#30 50.69 Finished <<< ros_ign_gazebo [13.2s]
#30 96.57 [Processing: orb_slam2_ros, ros_gz_interfaces]
#30 96.57 Finished <<< ros_gz_interfaces [1min 35s]
#30 96.57 Starting >>> ros_gz_bridge
#30 96.57 Starting >>> ros_ign_interfaces
#30 187.9 [Processing: orb_slam2_ros, ros_gz_bridge, ros_ign_interfaces]
#30 187.9 [Processing: orb_slam2_ros, ros_gz_bridge, ros_ign_interfaces]
#30 187.9 [Processing: orb_slam2_ros, ros_gz_bridge, ros_ign_interfaces]
#30 187.9 Finished <<< ros_ign_interfaces [1min 31s]
#30 230.8 --- stderr: orb_slam2_ros
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp: In member function ‘virtual bool g2o::EdgeSE3ProjectXYZ::read(std::istream&)’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:82:26: warning: iteration 2 invokes undefined behavior [-Waggressive-loop-optimizations]
#30 230.8    82 |       is >> information()(i,j);
#30 230.8       |             ~~~~~~~~~~~~~^~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/types/types_six_dof_expmap.cpp:81:20: note: within this loop
#30 230.8    81 |     for (int j=i; j<2; j++) {
#30 230.8       |                   ~^~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp: In member function ‘virtual bool g2o::EdgeSim3ProjectXYZ::read(std::istream&)’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:139:22: warning: iteration 2 invokes undefined behavior [-Waggressive-loop-optimizations]
#30 230.8   139 |   is >> information()(i,j);
#30 230.8       |         ~~~~~~~~~~~~~^~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.cpp:138:22: note: within this loop
#30 230.8   138 |       for (int j=i; j<2; j++) {
#30 230.8       |                     ~^~
#30 230.8 In file included from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.h:229,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.h:31,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/marginal_covariance_cholesky.cpp:27:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘g2o::SparseBlockMatrix<MatrixType>* g2o::SparseBlockMatrix<MatrixType>::slice(int, int, int, int, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:328:9: warning: ISO C++ forbids variable length array ‘rowIdx’ [-Wvla]
#30 230.8   328 |     int rowIdx [m];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:334:9: warning: ISO C++ forbids variable length array ‘colIdx’ [-Wvla]
#30 230.8   334 |     int colIdx [n];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘bool g2o::SparseBlockMatrix<MatrixType>::symmPermutation(g2o::SparseBlockMatrix<MatrixType>*&, const int*, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:404:9: warning: ISO C++ forbids variable length array ‘blockSizes’ [-Wvla]
#30 230.8   404 |     int blockSizes[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:410:9: warning: ISO C++ forbids variable length array ‘pBlockIndices’ [-Wvla]
#30 230.8   410 |     int pBlockIndices[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~~~~
#30 230.8 In file included from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.h:229,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_optimizer.h:33,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/estimate_propagator.h:31,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimizable_graph.cpp:37:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘g2o::SparseBlockMatrix<MatrixType>* g2o::SparseBlockMatrix<MatrixType>::slice(int, int, int, int, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:328:9: warning: ISO C++ forbids variable length array ‘rowIdx’ [-Wvla]
#30 230.8   328 |     int rowIdx [m];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:334:9: warning: ISO C++ forbids variable length array ‘colIdx’ [-Wvla]
#30 230.8   334 |     int colIdx [n];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘bool g2o::SparseBlockMatrix<MatrixType>::symmPermutation(g2o::SparseBlockMatrix<MatrixType>*&, const int*, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:404:9: warning: ISO C++ forbids variable length array ‘blockSizes’ [-Wvla]
#30 230.8   404 |     int blockSizes[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:410:9: warning: ISO C++ forbids variable length array ‘pBlockIndices’ [-Wvla]
#30 230.8   410 |     int pBlockIndices[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~~~~
#30 230.8 In file included from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.h:229,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/solver.h:32,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/solver.cpp:27:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘g2o::SparseBlockMatrix<MatrixType>* g2o::SparseBlockMatrix<MatrixType>::slice(int, int, int, int, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:328:9: warning: ISO C++ forbids variable length array ‘rowIdx’ [-Wvla]
#30 230.8   328 |     int rowIdx [m];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:334:9: warning: ISO C++ forbids variable length array ‘colIdx’ [-Wvla]
#30 230.8   334 |     int colIdx [n];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘bool g2o::SparseBlockMatrix<MatrixType>::symmPermutation(g2o::SparseBlockMatrix<MatrixType>*&, const int*, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:404:9: warning: ISO C++ forbids variable length array ‘blockSizes’ [-Wvla]
#30 230.8   404 |     int blockSizes[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:410:9: warning: ISO C++ forbids variable length array ‘pBlockIndices’ [-Wvla]
#30 230.8   410 |     int pBlockIndices[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~~~~
#30 230.8 In file included from /usr/include/eigen3/Eigen/Core:341,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/jacobian_workspace.h:30,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimizable_graph.h:41,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimizable_graph.cpp:27:
#30 230.8 /usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixVector.h: In function ‘static void Eigen::internal::trmv_selector<Mode, 1>::run(const Lhs&, const Rhs&, Dest&, const typename Dest::Scalar&) [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, -1, false>, -1, -1, false> >; Rhs = Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >; Dest = Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; int Mode = 6]’:
#30 230.8 /usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixVector.h:332:12: warning: ‘result’ may be used uninitialized [-Wmaybe-uninitialized]
#30 230.8   327 |     internal::triangular_matrix_vector_product
#30 230.8       |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8   328 |       <Index,Mode,
#30 230.8       |       ~~~~~~~~~~~~
#30 230.8   329 |        LhsScalar, LhsBlasTraits::NeedToConjugate,
#30 230.8       |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8   330 |        RhsScalar, RhsBlasTraits::NeedToConjugate,
#30 230.8       |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8   331 |        RowMajor>
#30 230.8       |        ~~~~~~~~~
#30 230.8   332 |       ::run(actualLhs.rows(),actualLhs.cols(),
#30 230.8       |       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8   333 |             actualLhs.data(),actualLhs.outerStride(),
#30 230.8       |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8   334 |             actualRhsPtr,1,
#30 230.8       |             ~~~~~~~~~~~~~~~
#30 230.8   335 |             dest.data(),dest.innerStride(),
#30 230.8       |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8   336 |             actualAlpha);
#30 230.8       |             ~~~~~~~~~~~~
#30 230.8 /usr/include/eigen3/Eigen/src/Core/products/TriangularMatrixVector.h:105:24: note: by argument 5 of type ‘const double*’ to ‘static void Eigen::internal::triangular_matrix_vector_product<Index, Mode, LhsScalar, ConjLhs, RhsScalar, ConjRhs, 1, Version>::run(Index, Index, const LhsScalar*, Index, const RhsScalar*, Index, Eigen::internal::triangular_matrix_vector_product<Index, Mode, LhsScalar, ConjLhs, RhsScalar, ConjRhs, 1, Version>::ResScalar*, Index, const ResScalar&) [with Index = long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0]’ declared here
#30 230.8   105 | EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,RowMajor,Version>
#30 230.8       |                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8 In file included from /usr/include/eigen3/Eigen/Core:337,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/jacobian_workspace.h:30,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimizable_graph.h:41,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimizable_graph.cpp:27:
#30 230.8 /usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h: In function ‘static void Eigen::internal::selfadjoint_product_impl<Lhs, LhsMode, false, Rhs, 0, true>::run(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, -1, 1>, -1, 1, false>; Lhs = Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, -1, false>; int LhsMode = 17; Rhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1>, -1, 1, true>, -1, 1, false> >]’:
#30 230.8 /usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h:229:7: warning: ‘result’ may be used uninitialized [-Wmaybe-uninitialized]
#30 230.8   227 |     internal::selfadjoint_matrix_vector_product<Scalar, Index, (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor,
#30 230.8       |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8   228 |                                                 int(LhsUpLo), bool(LhsBlasTraits::NeedToConjugate), bool(RhsBlasTraits::NeedToConjugate)>::run
#30 230.8       |                                                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8   229 |       (
#30 230.8       |       ^
#30 230.8   230 |         lhs.rows(),                             // size
#30 230.8       |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8   231 |         &lhs.coeffRef(0,0),  lhs.outerStride(), // lhs info
#30 230.8       |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8   232 |         actualRhsPtr,                           // rhs info
#30 230.8       |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8   233 |         actualDestPtr,                          // result info
#30 230.8       |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8   234 |         actualAlpha                             // scale factor
#30 230.8       |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8   235 |       );
#30 230.8       |       ~
#30 230.8 /usr/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h:41:6: note: by argument 4 of type ‘const double*’ to ‘static void Eigen::internal::selfadjoint_matrix_vector_product<Scalar, Index, StorageOrder, UpLo, ConjugateLhs, ConjugateRhs, Version>::run(Index, const Scalar*, Index, const Scalar*, Scalar*, Scalar) [with Scalar = double; Index = long int; int StorageOrder = 0; int UpLo = 1; bool ConjugateLhs = false; bool ConjugateRhs = false; int Version = 0]’ declared here
#30 230.8    41 | void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,Version>::run(
#30 230.8       |      ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#30 230.8 In file included from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.h:229,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_optimizer.h:33,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/estimate_propagator.h:31,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/estimate_propagator.cpp:27:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘g2o::SparseBlockMatrix<MatrixType>* g2o::SparseBlockMatrix<MatrixType>::slice(int, int, int, int, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:328:9: warning: ISO C++ forbids variable length array ‘rowIdx’ [-Wvla]
#30 230.8   328 |     int rowIdx [m];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:334:9: warning: ISO C++ forbids variable length array ‘colIdx’ [-Wvla]
#30 230.8   334 |     int colIdx [n];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘bool g2o::SparseBlockMatrix<MatrixType>::symmPermutation(g2o::SparseBlockMatrix<MatrixType>*&, const int*, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:404:9: warning: ISO C++ forbids variable length array ‘blockSizes’ [-Wvla]
#30 230.8   404 |     int blockSizes[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:410:9: warning: ISO C++ forbids variable length array ‘pBlockIndices’ [-Wvla]
#30 230.8   410 |     int pBlockIndices[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~~~~
#30 230.8 In file included from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.h:229,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_optimizer.h:33,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_optimizer.cpp:27:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘g2o::SparseBlockMatrix<MatrixType>* g2o::SparseBlockMatrix<MatrixType>::slice(int, int, int, int, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:328:9: warning: ISO C++ forbids variable length array ‘rowIdx’ [-Wvla]
#30 230.8   328 |     int rowIdx [m];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:334:9: warning: ISO C++ forbids variable length array ‘colIdx’ [-Wvla]
#30 230.8   334 |     int colIdx [n];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘bool g2o::SparseBlockMatrix<MatrixType>::symmPermutation(g2o::SparseBlockMatrix<MatrixType>*&, const int*, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:404:9: warning: ISO C++ forbids variable length array ‘blockSizes’ [-Wvla]
#30 230.8   404 |     int blockSizes[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:410:9: warning: ISO C++ forbids variable length array ‘pBlockIndices’ [-Wvla]
#30 230.8   410 |     int pBlockIndices[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~~~~
#30 230.8 In file included from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.h:229,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimization_algorithm.h:37,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimization_algorithm.cpp:27:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘g2o::SparseBlockMatrix<MatrixType>* g2o::SparseBlockMatrix<MatrixType>::slice(int, int, int, int, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:328:9: warning: ISO C++ forbids variable length array ‘rowIdx’ [-Wvla]
#30 230.8   328 |     int rowIdx [m];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:334:9: warning: ISO C++ forbids variable length array ‘colIdx’ [-Wvla]
#30 230.8   334 |     int colIdx [n];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘bool g2o::SparseBlockMatrix<MatrixType>::symmPermutation(g2o::SparseBlockMatrix<MatrixType>*&, const int*, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:404:9: warning: ISO C++ forbids variable length array ‘blockSizes’ [-Wvla]
#30 230.8   404 |     int blockSizes[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:410:9: warning: ISO C++ forbids variable length array ‘pBlockIndices’ [-Wvla]
#30 230.8   410 |     int pBlockIndices[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~~~~
#30 230.8 In file included from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.h:229,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimization_algorithm.h:37,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.h:30,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.cpp:27:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘g2o::SparseBlockMatrix<MatrixType>* g2o::SparseBlockMatrix<MatrixType>::slice(int, int, int, int, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:328:9: warning: ISO C++ forbids variable length array ‘rowIdx’ [-Wvla]
#30 230.8   328 |     int rowIdx [m];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:334:9: warning: ISO C++ forbids variable length array ‘colIdx’ [-Wvla]
#30 230.8   334 |     int colIdx [n];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘bool g2o::SparseBlockMatrix<MatrixType>::symmPermutation(g2o::SparseBlockMatrix<MatrixType>*&, const int*, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:404:9: warning: ISO C++ forbids variable length array ‘blockSizes’ [-Wvla]
#30 230.8   404 |     int blockSizes[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:410:9: warning: ISO C++ forbids variable length array ‘pBlockIndices’ [-Wvla]
#30 230.8   410 |     int pBlockIndices[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~~~~
#30 230.8 In file included from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.h:229,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimization_algorithm.h:37,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.h:30,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.h:30,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/optimization_algorithm_levenberg.cpp:30:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘g2o::SparseBlockMatrix<MatrixType>* g2o::SparseBlockMatrix<MatrixType>::slice(int, int, int, int, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:328:9: warning: ISO C++ forbids variable length array ‘rowIdx’ [-Wvla]
#30 230.8   328 |     int rowIdx [m];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:334:9: warning: ISO C++ forbids variable length array ‘colIdx’ [-Wvla]
#30 230.8   334 |     int colIdx [n];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘bool g2o::SparseBlockMatrix<MatrixType>::symmPermutation(g2o::SparseBlockMatrix<MatrixType>*&, const int*, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:404:9: warning: ISO C++ forbids variable length array ‘blockSizes’ [-Wvla]
#30 230.8   404 |     int blockSizes[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:410:9: warning: ISO C++ forbids variable length array ‘pBlockIndices’ [-Wvla]
#30 230.8   410 |     int pBlockIndices[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~~~~
#30 230.8 In file included from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.h:229,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/solver.h:32,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/block_solver.h:30,
#30 230.8                  from /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/src/Optimizer.cc:23:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘g2o::SparseBlockMatrix<MatrixType>* g2o::SparseBlockMatrix<MatrixType>::slice(int, int, int, int, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:328:9: warning: ISO C++ forbids variable length array ‘rowIdx’ [-Wvla]
#30 230.8   328 |     int rowIdx [m];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:334:9: warning: ISO C++ forbids variable length array ‘colIdx’ [-Wvla]
#30 230.8   334 |     int colIdx [n];
#30 230.8       |         ^~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp: In member function ‘bool g2o::SparseBlockMatrix<MatrixType>::symmPermutation(g2o::SparseBlockMatrix<MatrixType>*&, const int*, bool) const’:
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:404:9: warning: ISO C++ forbids variable length array ‘blockSizes’ [-Wvla]
#30 230.8   404 |     int blockSizes[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~
#30 230.8 /home/orca4/colcon_ws/src/orb_slam_2_ros/orb_slam2/Thirdparty/g2o/g2o/core/sparse_block_matrix.hpp:410:9: warning: ISO C++ forbids variable length array ‘pBlockIndices’ [-Wvla]
#30 230.8   410 |     int pBlockIndices[_rowBlockIndices.size()];
#30 230.8       |         ^~~~~~~~~~~~~
#30 230.8 ---
#30 230.8 [Processing: orb_slam2_ros, ros_gz_bridge]
#30 230.8 Finished <<< orb_slam2_ros [3min 49s]
#30 323.4 --- stderr: ros_gz_bridge
#30 323.4 c++: fatal error: Killed signal terminated program cc1plus
#30 323.4 compilation terminated.
#30 323.4 gmake[2]: *** [CMakeFiles/test_ros_subscriber.dir/build.make:173: CMakeFiles/test_ros_subscriber.dir/generated/test/geometry_msgs_subscriber.cpp.o] Error 1
#30 323.4 gmake[2]: *** Waiting for unfinished jobs....
#30 323.4 gmake[1]: *** [CMakeFiles/Makefile2:530: CMakeFiles/test_ros_subscriber.dir/all] Error 2
#30 323.4 gmake: *** [Makefile:146: all] Error 2
#30 323.4 ---
#30 323.4 Failed   <<< ros_gz_bridge [3min 47s, exited with code 2]
#30 323.5 [Processing: ros_gz_bridge]
#30 323.5 [Processing: ros_gz_bridge]
#30 323.5 [Processing: ros_gz_bridge]
#30 323.5 
#30 323.5 Summary: 7 packages finished [5min 22s]
#30 323.5   1 package failed: ros_gz_bridge
#30 323.5   2 packages had stderr output: orb_slam2_ros ros_gz_bridge
#30 323.5   8 packages not processed
------
executor failed running [/bin/bash -c   source /opt/ros/humble/setup.bash   && colcon build]: exit code: 2

Running locally on my Macbook Pro M2.

clydemcqueen commented 3 months ago

Hey, thanks for reporting the issue. I'm aware of the warnings while compiling orb_slam_2_ros, but on my box (Ubuntu 22.04) docker build finishes without errors, and the demo runs well. Did you ctrl-C before it finished, or did it die on it's own?

figuernd commented 3 months ago

@clydemcqueen It dies on its own - tried a couple times, including --no-cache even.

figuernd commented 3 months ago

@clydemcqueen tried again on an Ubuntu AMD64 system. Now it fails even earlier, during ardusub compilation.

Two likely explanations I can think of: osrf/ros:humble-desktop has changes on more recent images, or perhaps https://github.com/ArduPilot/ardupilot_gazebo.git has breaking changes since you do not specify a commit or tag in the Dockerfile.

figuernd commented 3 months ago

Confirmed - the last main commit of ardusub_gazebo breaks the Ubuntu build: https://github.com/ArduPilot/ardupilot_gazebo/actions/runs/9221687676

I worked around this by changing the Dockerfile to checkout the last commit to build successfully. Works in Linux now.

clydemcqueen commented 3 months ago

Thanks for tracking this down! With --no-cache I was able to reproduce the problem.

ardupilot_gazebo now defaults to harmonic. I fixed it by setting GZ_VERSION=garden before compiling ardupilot_gazebo.

At some point we may need to lock into a specific commit for both ardupilot and ardupilot_gazebo.

figuernd commented 3 months ago

Awesome, thanks!

figuernd commented 3 months ago

I should note that this did not fix the original issue described for OSX on Apple Silicon. My best guess is an issue with the way Docker compiles on ARM.