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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
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[BUG] depthai_bridge fails to build on Noetic: spdlog recompile with -fPIC unsupported relocation #540

Closed sloretz closed 3 months ago

sloretz commented 3 months ago

Check if issue already exists

Did not find an existing issue

Describe the bug

depthai_bridge fails to build on the ROS Noetic buildfarm on all architectures, and has been doing so since May 31, 2024. Possibly caused by update to depthai? https://github.com/ros/rosdistro/pull/41439

The build failure appears to complain about symbols from spdlog being statically linked:

23:05:03 /usr/bin/ld: /opt/ros/noetic/lib/x86_64-linux-gnu/cmake/depthai/dependencies/lib/libspdlog.a(spdlog.cpp.o): relocation R_X86_64_TPOFF32 against `_ZGVZN6spdlog7details2os9thread_idEvE3tid' can not be used when making a shared object; recompile with -fPIC
23:05:03 /usr/bin/ld: /opt/ros/noetic/lib/x86_64-linux-gnu/libdepthai-core.a(CalibrationHandler.cpp.o): relocation R_X86_64_PC32 against symbol `_ZGVZN3dai7Logging11getInstanceEvE7logging' can not be used when making a shared object; recompile with -fPIC
23:05:03 /usr/bin/ld: final link failed: bad value

Minimal Reproducible Example

https://build.ros.org/job/Nbin_uF64__depthai_bridge__ubuntu_focal_amd64__binary/61/console

Expected behavior

The build succeeds on the Noetic buildfarm

Screenshots N/A

Pipeline Graph

N/A

Attach system log

N/A

Additional context

Serafadam commented 3 months ago

@sloretz Thanks for the report, it seems a small change has been omitted which removed arg for building shared libs (although shouldn't buildfarm set it by default anyway?). To fix that, should I create a new tag under the same name, or bump the release version?

sloretz commented 3 months ago

To fix that, should I create a new tag under the same name, or bump the release version?

Please bump the release version.

chrismcclurg commented 3 months ago

@Serafadam @sloretz Was there a workaround for this issue?

Serafadam commented 3 months ago

New version of depthai with correct flags has been pushed to rosdistro.

gongbingyu commented 3 months ago

New version of depthai with correct flags has been committed to rosdistro.

How do I find it?

CharithReddy101 commented 3 months ago

New version of depthai with correct flags has been committed to rosdistro.

How do I find it?

Waiting for the same!!

anshu3012 commented 3 months ago

@gongbingyu @CharithReddy101 @chrismcclurg @sloretz

I was able to build the package by installing v2.24 for depthai-core. Not ideal but seems to work. I will outline the steps hoping it helps while the issue is resolved.

  1. Instead of running the dependency script from the website, make a local script with the following:
set -e

echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
sudo udevadm control --reload-rules && sudo udevadm trigger
cd /tmp
git clone --recursive https://github.com/luxonis/depthai-core.git --branch v2.24.0
cmake -Hdepthai-core -Bdepthai-core/build -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=/usr/local
cmake --build depthai-core/build --target install
cd /tmp
rm -r depthai-core
  1. clone v2.9 of depthai-ros
  2. catkin build
gongbingyu commented 3 months ago

@gongbingyu @CharithReddy101 @chrismcclurg @sloretz

I was able to build the package by installing v2.24 for depthai-core. Not ideal but seems to work. I will outline the steps hoping it helps while the issue is resolved.

  1. Instead of running the dependency script from the website, make a local script with the following:
set -e

echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
sudo udevadm control --reload-rules && sudo udevadm trigger
cd /tmp
git clone --recursive https://github.com/luxonis/depthai-core.git --branch v2.24.0
cmake -Hdepthai-core -Bdepthai-core/build -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=/usr/local
cmake --build depthai-core/build --target install
cd /tmp
rm -r depthai-core
  1. clone v2.9 of depthai-ros
  2. catkin build

Do I need to remove my previous installation of depthai-core. If so, how.

tetov commented 3 months ago

@anshu3012

Do I need to remove my previous installation of depthai-core. If so, how.

sudo dpkg -r --force-depends ros-noetic-depthai

You can remove it with this.

rosdep will reinstall it though, but you can get away from that using

rosdep install --from-paths src --ignore-src -y --skip-keys=depthai
ZenoRobotics commented 3 months ago

I wasted a lot of time this weekend trying to figure out why ros-noetic-depthia-ros disappeared and why I was getting such a strange error after reflashing my microSD card and reloaded depthai ros. Chased a lot of red herrings along the way, then repeating the reflash/rebuild process several times. It would be nice if this information wasn't buried here, but was somehow sent to the user. You need to change your instruction page at: https://docs.luxonis.com/software/ros/depthai-ros/ . This issue rendered my use of the Oak camera useless, so I then went back to my RS D435i. Ugh!!!

Serafadam commented 3 months ago

@ZenoRobotics @tetov @gongbingyu @anshu3012 We apologize for the issues caused by this bug. To get the pre-release packages you can update your apt sources to use ros-testing repository, similarly to how it works here

tetov commented 3 months ago

The bug was fixed here: https://github.com/ros/rosdistro/pull/41594

Now it needs to make it's way through the ROS release pipeline from testing to stable.

@Serafadam: Thanks for the quick response! Next time, please give a hint which project's CMake file to fix ;).

gongbingyu commented 3 months ago

Will there be any intention to release ros-noetic-depthai-ros?

gongbingyu commented 3 months ago

I also specifically agree with his proposal (@ZenoRobotics) to update the instructions in the documentation. It is also suggested to add a specific step for removing the depthai-core installer (both source builds, binary builds, and scripted builds), which would be especially helpful for beginners.

tetov commented 3 months ago

Until new ros-noetic-depthai and ros-noetic-depthai-ros makes its way to the stable ros apt repo you can just change

deb http://packages.ros.org/ros/ubuntu focal main

in /etc/apt/sources.list.d/ros-latest.list to

#deb http://packages.ros.org/ros/ubuntu focal main
deb http://packages.ros.org/ros-testing/ubuntu focal main

After that you can run:

sudo apt update && sudo apt install ros-noetic-depthai-ros
sloretz commented 3 months ago

depthai packages are back in ROS Noetic