Failed to build from source

Bug report

Required information:

Operating system and version:
- Ubuntu 20.04
OpenRMF installation type:
- From source according to https://github.com/open-rmf/rmf
ROS distribution and version:
- Foxy
ROS installation type:
- From binaries

Description of the bug

--- stderr: rmf_robot_sim_gazebo_plugins                                 
make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libsdformat9.so.9.5.0', needed by 'libreadonly.so'.  Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libsdformat9.so.9.5.0', needed by 'libslotcar.so'.  Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libsdformat9.so.9.5.0', needed by 'libteleport_ingestor.so'.  Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libsdformat9.so.9.5.0', needed by 'libteleport_dispenser.so'.  Stop.
make[2]: *** Waiting for unfinished jobs....
In file included from /home/ericluwj/rmf_ws/src/rmf/rmf_simulation/rmf_robot_sim_gazebo_plugins/src/readonly.cpp:18:
/usr/include/gazebo-11/gazebo/common/Plugin.hh:33:10: fatal error: sdf/sdf.hh: No such file or directory
   33 | #include <sdf/sdf.hh>
      |          ^~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/readonly.dir/build.make:63: CMakeFiles/readonly.dir/src/readonly.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:111: CMakeFiles/readonly.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /home/ericluwj/rmf_ws/src/rmf/rmf_simulation/rmf_robot_sim_gazebo_plugins/src/TeleportDispenser.cpp:20:
/usr/include/gazebo-11/gazebo/common/Plugin.hh:33:10: fatal error: sdf/sdf.hh: No such file or directory
   33 | #include <sdf/sdf.hh>
      |          ^~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/teleport_dispenser.dir/build.make:63: CMakeFiles/teleport_dispenser.dir/src/TeleportDispenser.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:165: CMakeFiles/teleport_dispenser.dir/all] Error 2
In file included from /home/ericluwj/rmf_ws/src/rmf/rmf_simulation/rmf_robot_sim_gazebo_plugins/src/TeleportIngestor.cpp:21:
/usr/include/gazebo-11/gazebo/common/Plugin.hh:33:10: fatal error: sdf/sdf.hh: No such file or directory
   33 | #include <sdf/sdf.hh>
      |          ^~~~~~~~~~~~
compilation terminated.
In file included from /home/ericluwj/rmf_ws/src/rmf/rmf_simulation/rmf_robot_sim_gazebo_plugins/src/slotcar.cpp:1:
/usr/include/gazebo-11/gazebo/physics/World.hh:29:10: fatal error: sdf/sdf.hh: No such file or directory
   29 | #include <sdf/sdf.hh>
      |          ^~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/teleport_ingestor.dir/build.make:63: CMakeFiles/teleport_ingestor.dir/src/TeleportIngestor.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:138: CMakeFiles/teleport_ingestor.dir/all] Error 2
make[2]: *** [CMakeFiles/slotcar.dir/build.make:63: CMakeFiles/slotcar.dir/src/slotcar.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:84: CMakeFiles/slotcar.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< rmf_robot_sim_gazebo_plugins [1.47s, exited with code 2]

From the error it seems that it's not able to find the sdf/sdf.hh file that is provided by the libsdformat9-dev package. This package is a dependency of RMF and should be installed if you followed the instructions step by step. If the package is installed and the problem persists then something might be wrong in your specific setup preventing the compilation from finding the correct files.

Following the instructions in https://github.com/open-rmf/rmf you should have executed the rosdep dependencies installation step:

cd ~/rmf_ws
rosdep install --from-paths src --ignore-src --rosdistro foxy -yr

This step installs the dependency packages for the compilation of RMF, specifically for the one involved in your case: the package rmf_robot_sim_gazebo_plugins would install ros-foxy-gazebo-dev that will install its dependency libgazebo11-dev that will install its dependency libsdformat9-dev, the package that contains the missing files.

I will proceed to close the issue since I tested on a clean installation of focal with foxy following the instructions. libsdformat9-dev installs correctly and the compilation of the RMF throws no errors.

open-rmf / rmf