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jiuyewxy / weloveinterns

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任务22：社区待解决任务——librealsense构建报错，出现大量未定义引用（紧急，可与其他任务同时接） #24

Closed jiuyewxy closed 2 months ago

jiuyewxy commented 2 months ago
1724750590397
Tabbleman commented 2 months ago

accept，来了来了

Grvzard commented 2 months ago

accept，来了来了

进展怎么样

Tabbleman commented 2 months ago

accept，来了来了

进展怎么样

我在本地完全复现不出来问题，再ci上倒是遇上了很多未定义的引用，不过我查阅了相关链接以后，觉得很有可能是ci上编译器的问题。

Tabbleman commented 2 months ago

accept，来了来了

进展怎么样

https://stackoverflow.com/questions/9811503/unusual-c-linker-error-defined-in-discarded-section

Grvzard commented 2 months ago

我之前在 ci 上也可以复现这个问题，之后就把它依赖修了一下，结果卡在无法连接 github 上了。 https://eulermaker.compass-ci.openeuler.openatom.cn/package/overview?osProject=24.03-ros-humble&packageName=librealsense

https://gitee.com/grvzard/librealsense/tree/humble-4/ 我把依赖问题修好了，你有时间的话试试本地构建一下？

Tabbleman commented 2 months ago

好的，感谢🥰🥰

Grvzard commented 2 months ago

debian/ubuntu 的 ros 库是有 librealsense 这个包的，但 fedora/RHEL 没有，搞不好出的问题都一样。 所以我觉得大概率是其中一个依赖的问题，我也给上游也提了 PR，如果 openEuler 不出问题的话估计上游的问题也能一起解决了。

Grvzard commented 2 months ago

librealsense 的新版会用到 git clone github，在 eulerMaker 上肯定编不过，所以打算还是用原先的版本，只把依赖修了。 https://gitee.com/grvzard/librealsense/tree/humble-5/ https://eulermaker.compass-ci.openeuler.openatom.cn/package/build-record?osProject=24.03-ros-humble&packageName=librealsense&jobId=cbs.6159237 然后 ci 上遇到相同的问题。

Grvzard commented 2 months ago

这是个链接时问题，参考 https://mcuoneclipse.com/2017/11/12/solving-problem-with-gnu-linker-and-referenced-in-section-defined-in-discarded-section-error-message/ 我们可以把链接时优化 lto 关了试试。

Tabbleman commented 2 months ago

这是个链接时问题，参考 https://mcuoneclipse.com/2017/11/12/solving-problem-with-gnu-linker-and-referenced-in-section-defined-in-discarded-section-error-message/ 我们可以把链接时优化 lto 关了试试。

可以，我现在本地还在慢慢编译。

Tabbleman commented 2 months ago

我在本地编译2.55.1的时候倒是成功复现了undefine reference的问题

Grvzard commented 2 months ago

复现了undefine reference的问题

你确定是一个问题吗，原来的问题是 最后一步链接时有一堆本来需要重定向而放在 .data.rel.ro.local section 的符号被丢掉了。ci 日志： https://eulermaker.compass-ci.openeuler.openatom.cn/api/result/rpmbuild/2024-08-29/dc-64g/openeuler-24.03-lts-amd64-x86_64/x86_64-common-gitee.com-grvzard-librealse/cbs.6159370/dmesg

把链接时优化 lto 关了试试。

刚刚看了下，这好像也没用 lto。还有种可能是 librealsense 的代码和 gnu linker 不能很好的一起工作？可以试试换 llvm 的 lld。但很大可能也是浪费时间。 ros 官方也没有编出这个包。而 librealsense 本身让用户可以很方便地通过 vcpkg 安装。 直接选择放弃。

Tabbleman commented 2 months ago

Output:

[root@10 build]# make -j8
[  1%] Built target fw
[  3%] Built target rs-embed
[ 13%] Built target rsutils
[ 23%] Built target realsense-file
[ 23%] Linking CXX shared library Release/librealsense2.so
`_ZNSt17_Function_handlerIFbRKN12librealsense8platform15uvc_device_infoES4_ENS0_UlS4_S4_E0_EE10_M_managerERSt9_Any_dataRKS8_St18_Manager_operation' referenced in section `.data.rel.ro.local' of CMakeFiles/realsense2.dir/src/ds/d500/d500-factory.cpp.o: defined in discarded section `.text._ZNSt17_Function_handlerIFbRKN12librealsense8platform15uvc_device_infoES4_ENS0_UlS4_S4_E0_EE10_M_managerERSt9_Any_dataRKS8_St18_Manager_operation[_ZNK12librealsense8platform20backend_device_groupeqERKS1_]' of CMakeFiles/realsense2.dir/src/ds/d500/d500-factory.cpp.o
`_ZNSt17_Function_handlerIFbRKN12librealsense8platform15hid_device_infoES4_ENS0_UlS4_S4_E1_EE10_M_managerERSt9_Any_dataRKS8_St18_Manager_operation' referenced in section `.data.rel.ro.local' of CMakeFiles/realsense2.dir/src/ds/d500/d500-factory.cpp.o: defined in discarded section `.text._ZNSt17_Function_handlerIFbRKN12librealsense8platform15hid_device_infoES4_ENS0_UlS4_S4_E1_EE10_M_managerERSt9_Any_dataRKS8_St18_Manager_operation[_ZNK12librealsense8platform20backend_device_groupeqERKS1_]' of CMakeFiles/realsense2.dir/src/ds/d500/d500-factory.cpp.o
`_ZNSt17_Function_handlerIFbRKN12librealsense8platform15uvc_device_infoES4_ENS0_UlS4_S4_E0_EE10_M_managerERSt9_Any_dataRKS8_St18_Manager_operation' referenced in section `.data.rel.ro.local' of CMakeFiles/realsense2.dir/src/fw-update/fw-update-factory.cpp.o: defined in discarded section `.text._ZNSt17_Function_handlerIFbRKN12librealsense8platform15uvc_device_infoES4_ENS0_UlS4_S4_E0_EE10_M_managerERSt9_Any_dataRKS8_St18_Manager_operation[_ZNK12librealsense8platform20backend_device_groupeqERKS1_]' of CMakeFiles/realsense2.dir/src/fw-update/fw-update-factory.cpp.o
`_ZNSt17_Function_handlerIFbRKN12librealsense8platform15hid_device_infoES4_ENS0_UlS4_S4_E1_EE10_M_managerERSt9_Any_dataRKS8_St18_Manager_operation' referenced in section `.data.rel.ro.local' of CMakeFiles/realsense2.dir/src/fw-update/fw-update-factory.cpp.o: defined in discarded section `.text._ZNSt17_Function_handlerIFbRKN12librealsense8platform15hid_device_infoES4_ENS0_UlS4_S4_E1_EE10_M_managerERSt9_Any_dataRKS8_St18_Manager_operation[_ZNK12librealsense8platform20backend_device_groupeqERKS1_]' of CMakeFiles/realsense2.dir/src/fw-update/fw-update-factory.cpp.o
`_ZNSt17_Function_handlerIFbRKN12librealsense8platform15uvc_device_infoES4_ENS0_UlS4_S4_E0_EE10_M_managerERSt9_Any_dataRKS8_St18_Manager_operation' referenced in section `.data.rel.ro.local' of CMakeFiles/realsense2.dir/src/platform-camera.cpp.o: defined in discarded section `.text._ZNSt17_Function_handlerIFbRKN12librealsense8platform15uvc_device_infoES4_ENS0_UlS4_S4_E0_EE10_M_managerERSt9_Any_dataRKS8_St18_Manager_operation[_ZNK12librealsense8platform20backend_device_groupeqERKS1_]' of CMakeFiles/realsense2.dir/src/platform-camera.cpp.o
`_ZNSt17_Function_handlerIFbRKN12librealsense8platform15hid_device_infoES4_ENS0_UlS4_S4_E1_EE10_M_managerERSt9_Any_dataRKS8_St18_Manager_operation' referenced in section `.data.rel.ro.local' of CMakeFiles/realsense2.dir/src/platform-camera.cpp.o: defined in discarded section `.text._ZNSt17_Function_handlerIFbRKN12librealsense8platform15hid_device_infoES4_ENS0_UlS4_S4_E1_EE10_M_managerERSt9_Any_dataRKS8_St18_Manager_operation[_ZNK12librealsense8platform20backend_device_groupeqERKS1_]' of CMakeFiles/realsense2.dir/src/platform-camera.cpp.o
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/realsense2.dir/build.make:2341: Release/librealsense2.so.2.55.1] Error 1
make[1]: *** [CMakeFiles/Makefile2:333: CMakeFiles/realsense2.dir/all] Error 2
make: *** [Makefile:136: all] Error 2

输出一模一样🥵🥵

Tabbleman commented 2 months ago

现在的解决办法我感觉无非就是再所有xxx_device_info相关函数前面强制加个attribute((used)) 来强行关闭链接时候出现的这个问题

Grvzard commented 2 months ago

可以先试试换个 linker

Tabbleman commented 2 months ago

可以先试试换个 linker

行，我用llvm的工具链再试一下。

Grvzard commented 2 months ago

wait https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

Note: Due to the USB 3.0 translation layer between native hardware and virtual machine, the librealsense team does not support installation in a VM.

Tabbleman commented 2 months ago

wait https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

Note: Due to the USB 3.0 translation layer between native hardware and virtual machine, the librealsense team does not support installation in a VM.

原来如此，那就可以放弃了

Tabbleman commented 2 months ago

wait https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

Note: Due to the USB 3.0 translation layer between native hardware and virtual machine, the librealsense team does not support installation in a VM.

woca,我关了lto以后，用gnu工具链没问题了


[root@10 build]# make -j8
[  0%] Building C object tools/embed/CMakeFiles/rs-embed.dir/__/__/third-party/realsense-file/lz4/lz4.c.o
[  1%] Building CXX object tools/embed/CMakeFiles/rs-embed.dir/rs-embed.cpp.o
[ 11%] Built target rsutils
[ 21%] Built target realsense-file
[ 22%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d400/d400-color.cpp.o
[ 22%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d400/d400-active.cpp.o
[ 22%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d400/d400-thermal-monitor.cpp.o
[ 22%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d400/d400-fw-update-device.cpp.o
[ 23%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d400/d400-factory.cpp.o
[ 24%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d400/d400-auto-calibration.cpp.o
[ 25%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d500/d500-device.cpp.o
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[ 26%] Linking CXX executable ../../Release/rs-embed
[ 27%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d500/d500-motion.cpp.o
[ 27%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d500/d500-active.cpp.o
[ 28%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d500/d500-private.cpp.o
[ 28%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d500/d500-factory.cpp.o
[ 29%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d500/hw_monitor_extended_buffers.cpp.o
[ 29%] Built target rs-embed
[ 29%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d500/d500-options.cpp.o
[ 30%] Building CXX object CMakeFiles/realsense2.dir/src/ds/d500/d500-fw-update-device.cpp.o
[ 30%] Building CXX object CMakeFiles/realsense2.dir/src/ds/ds-device-common.cpp.o
[ 31%] Building CXX object CMakeFiles/realsense2.dir/src/ds/ds-motion-common.cpp.o
[ 31%] Building CXX object CMakeFiles/realsense2.dir/src/ds/ds-color-common.cpp.o
[ 32%] Building CXX object CMakeFiles/realsense2.dir/src/ds/ds-active-common.cpp.o
[ 32%] Building CXX object CMakeFiles/realsense2.dir/src/ds/ds-private.cpp.o
[ 33%] Building CXX object CMakeFiles/realsense2.dir/src/ds/ds-timestamp.cpp.o
[ 33%] Building CXX object CMakeFiles/realsense2.dir/src/ds/ds-options.cpp.o
[ 34%] Building CXX object CMakeFiles/realsense2.dir/src/ds/advanced_mode/rs_advanced_mode.cpp.o
[ 34%] Building CXX object CMakeFiles/realsense2.dir/src/ds/advanced_mode/presets.cpp.o
[ 35%] Building CXX object CMakeFiles/realsense2.dir/src/ds/advanced_mode/advanced_mode.cpp.o
[ 35%] Building CXX object CMakeFiles/realsense2.dir/src/ds/ds-calib-parsers.cpp.o
[ 36%] Building CXX object CMakeFiles/realsense2.dir/src/ds/features/amplitude-factor-feature.cpp.o
[ 36%] Building CXX object CMakeFiles/realsense2.dir/src/ds/features/emitter-frequency-feature.cpp.o
[ 37%] Building CXX object CMakeFiles/realsense2.dir/src/ds/features/auto-exposure-roi-feature.cpp.o
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[ 41%] Building CXX object CMakeFiles/realsense2.dir/src/media/ros/ros_reader.cpp.o
[ 42%] Building CXX object CMakeFiles/realsense2.dir/src/media/ros/ros_writer.cpp.o
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[ 43%] Building CXX object CMakeFiles/realsense2.dir/src/proc/processing-blocks-factory.cpp.o
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[ 47%] Building CXX object CMakeFiles/realsense2.dir/src/proc/decimation-filter.cpp.o

[ 47%] Building CXX object CMakeFiles/realsense2.dir/src/proc/spatial-filter.cpp.o
[ 48%] Building CXX object CMakeFiles/realsense2.dir/src/proc/temporal-filter.cpp.o
[ 48%] Building CXX object CMakeFiles/realsense2.dir/src/proc/hdr-merge.cpp.o
[ 49%] Building CXX object CMakeFiles/realsense2.dir/src/proc/sequence-id-filter.cpp.o
[ 49%] Building CXX object CMakeFiles/realsense2.dir/src/proc/hole-filling-filter.cpp.o
[ 50%] Building CXX object CMakeFiles/realsense2.dir/src/proc/disparity-transform.cpp.o
[ 51%] Building CXX object CMakeFiles/realsense2.dir/src/proc/y12i-to-y16y16.cpp.o
[ 51%] Building CXX object CMakeFiles/realsense2.dir/src/proc/y8i-to-y8y8.cpp.o
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[ 52%] Building CXX object CMakeFiles/realsense2.dir/src/proc/identity-processing-block.cpp.o
[ 53%] Building CXX object CMakeFiles/realsense2.dir/src/proc/threshold.cpp.o
[ 53%] Building CXX object CMakeFiles/realsense2.dir/src/proc/rates-printer.cpp.o
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[ 57%] Building CXX object CMakeFiles/realsense2.dir/src/proc/y411-converter.cpp.o
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Release/librealsense2.so[ 79%] Building CXX object CMakeFiles/realsense2.dir/src/rscore-pp-block-factory.cpp.o

[ 80%] Building CXX object CMakeFiles/realsense2.dir/src/software-device.cpp.o
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[ 88%] Building CXX object CMakeFiles/realsense2.dir/third-party/easyloggingpp/src/easylogging++.cc.o
[ 88%] Linking CXX shared library Release/librealsense2.so

[ 93%] Built target realsense2
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[ 94%] Building CXX object tools/fw-logger/CMakeFiles/rs-fw-logger.dir/rs-fw-logger.cpp.o
[ 95%] Building CXX object tools/convert/CMakeFiles/rs-convert.dir/converters/converter-csv.cpp.o
[ 95%] Building CXX object tools/recorder/CMakeFiles/rs-record.dir/rs-record.cpp.o
[ 95%] Building CXX object tools/convert/CMakeFiles/rs-convert.dir/converter.cpp.o
[ 95%] Building CXX object tools/fw-update/CMakeFiles/rs-fw-update.dir/rs-fw-update.cpp.o
[ 96%] Building CXX object tools/terminal/CMakeFiles/rs-terminal.dir/auto-complete.cpp.o
[ 97%] Linking CXX executable ../../Release/rs-record
[ 98%] Linking CXX executable ../../Release/rs-fw-logger
[ 98%] Linking CXX executable ../../Release/rs-convert
[ 98%] Built target rs-record
[ 98%] Built target rs-fw-logger
[ 99%] Linking CXX executable ../../Release/rs-fw-update
[100%] Linking CXX executable ../../Release/rs-enumerate-devices
[100%] Linking CXX executable ../../Release/rs-terminal
[100%] Built target rs-convert
[100%] Built target rs-fw-update
[100%] Built target rs-enumerate-devices
[100%] Built target rs-terminal
Tabbleman commented 2 months ago

ci也过了 image https://eulermaker.compass-ci.openeuler.openatom.cn/package/overview?osProject=test_librealsense&packageName=librealsense

Tabbleman commented 2 months ago

https://gitee.com/src-openeuler/librealsense/pulls/6 issue 应该ok了

jiuyewxy commented 2 months ago

此任务完成，关闭issue