Some issues when install RMF on Nvidia Jetson Xavier NX

[winnerineast]

Describe the bug When I build rmf_core on nvidia jetson xavier nx and hit some build error on rmf_traffic_ros2.

Workspace information:

• Operating system and version: Nvidia SD card image (https://developer.nvidia.com/jetson-nx-developer-kit-sd-card-image)
• ROS distribution:foxy
• ROS installation method: [from source]
• RMF installation method: [from source]
• RMF binaries version, if installed from binaries: NA
• RMF source versions, if installed from source: master
  • rmf_demos branch or commit hash: NA
  • rmf_core branch or commit hash: master
  • rmf_schedule_visualizaer branch or commit hash: NA
  • traffic_editor branch or commit hash: NA

Steps to Reproduce

1. the gcc version is 7.5 which is not suitable for ROS and RMF. The workaround is to install gcc 8 separately.
2. yaml-cpp version 0.5.2 which fails rmf_traffic_ros2. The workaround is to install yaml-cpp from source separately.
3. after the workaround 1 and 2, when run "CXX=g++-8 colcon build --cmake-args -DCMAKE_BUILD_TYPE=RELEASE", still hit the build error.

Expected behavior I expect the build successfully.

Actual behavior
I expect the build successfully but the output error as below:

Starting >>> ament_cmake_catch2
Starting >>> rmf_cmake_uncrustify                 
Starting >>> rmf_utils                                                                      
Starting >>> rmf_dispenser_msgs                                                                                
Starting >>> rmf_fleet_msgs                                                                                        
Starting >>> rmf_traffic_msgs                                                                                      
Finished <<< rmf_cmake_uncrustify [3.50s]                                                                                            
Starting >>> rmf_door_msgs
Finished <<< ament_cmake_catch2 [3.97s]                                                                   
Starting >>> rmf_lift_msgs
Finished <<< rmf_utils [4.51s]                                                                               
Starting >>> rmf_traffic
Finished <<< rmf_dispenser_msgs [13.6s]                                                                                
Starting >>> rmf_task_msgs
Finished <<< rmf_lift_msgs [10.9s]                                                                                 
Starting >>> rmf_ingestor_msgs                                                                                     
Finished <<< rmf_door_msgs [14.3s]                                                                                 
Starting >>> rmf_charger_msgs
Finished <<< rmf_traffic [14.9s]                                                                                   
Starting >>> rmf_battery
Finished <<< rmf_fleet_msgs [21.0s]                                                                                
Starting >>> rmf_workcell_msgs
Finished <<< rmf_battery [5.35s]                                                                                
Starting >>> rmf_task
Finished <<< rmf_ingestor_msgs [12.1s]                                                                          
Finished <<< rmf_charger_msgs [10.7s]                                                                             
Finished <<< rmf_task [5.58s]                                                                                      
Finished <<< rmf_workcell_msgs [13.1s]                                                                               
Finished <<< rmf_task_msgs [23.5s]                                                                               
Finished <<< rmf_traffic_msgs [46.8s]                           
Starting >>> rmf_traffic_ros2
--- stderr: rmf_traffic_ros2                                
librmf_traffic_ros2.so: undefined reference to `std::filesystem::__cxx11::path::parent_path() const'
librmf_traffic_ros2.so: undefined reference to `vtable for YAML::BadConversion'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::__cxx11::path::_M_split_cmpts()'
librmf_traffic_ros2.so: undefined reference to `typeinfo for YAML::BadConversion'
librmf_traffic_ros2.so: undefined reference to `YAML::detail::node_data::convert_to_map(std::shared_ptr<YAML::detail::memory_holder> const&)'
librmf_traffic_ros2.so: undefined reference to `YAML::detail::node::m_amount'
librmf_traffic_ros2.so: undefined reference to `YAML::BadConversion::~BadConversion()'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::absolute(std::filesystem::__cxx11::path const&)'
librmf_traffic_ros2.so: undefined reference to `YAML::detail::node_data::push_back(YAML::detail::node&, std::shared_ptr<YAML::detail::memory_holder> const&)'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::create_directories(std::filesystem::__cxx11::path const&)'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::status(std::filesystem::__cxx11::path const&)'
collect2: error: ld returned 1 exit status
librmf_traffic_ros2.so: undefined reference to `std::filesystem::__cxx11::path::parent_path() const'
librmf_traffic_ros2.so: undefined reference to `vtable for YAML::BadConversion'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::__cxx11::path::_M_split_cmpts()'
librmf_traffic_ros2.so: undefined referencemake[2]: *** [rmf_traffic_schedule] Error 1
 to `typeinfo for YAML::BadConversion'
librmf_traffic_ros2.so: undefined reference to `YAML::detail::node_data::convert_to_map(std::shared_ptr<YAML::detail::memory_holder> const&)'
librmf_traffic_ros2.so: undefined reference to `YAML::detail::node::m_amount'
librmf_traffic_ros2.so: undefined reference to `YAML::BadConversion::~BadConversion()'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::absolute(std::filesystem::__cxx11::path const&)'
librmf_traffic_ros2.so: undefined reference to `YAML::detail::node_data::push_back(YAML::detail::node&, std::shared_ptr<YAML::detail::memory_holder> const&)'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::create_directories(std::filesystem::__cxx11::path const&)'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::status(std::filesystem::__cxx11::path const&)'
make[1]: *** [CMakeFiles/rmf_traffic_schedule.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
CMakeFiles/test_rmf_traffic_ros2.dir/test/unit/test_ParticipantRegistry.cpp.o: In function `____C_A_T_C_H____T_E_S_T____9()':
test_ParticipantRegistry.cpp:(.text+0x1a20): undefined reference to `std::filesystem::__cxx11::path::_M_split_cmpts()'
test_ParticipantRegistry.cpp:(.text+0x1a28): undefined reference to `std::filesystem::status(std::filesystem::__cxx11::path const&)'
CMakeFiles/test_rmf_traffic_ros2.dir/test/unit/test_ParticipantRegistry.cpp.o: In function `YAML::Node YAML::Node::operator[]<char [5]>(char const (&) [5])':
test_ParticipantRegistry.cpp:(.text._ZN4YAML4NodeixIA5_cEES0_RKT_[_ZN4YAML4NodeixIA5_cEES0_RKT_]+0x9f8): undefined reference to `YAML::detail::node_data::convert_to_map(std::shared_ptr<YAML::detail::memory_holder> const&)'
CMakeFiles/test_rmf_traffic_ros2.dir/test/unit/test_ParticipantRegistry.cpp.o: In function `YAML::Node YAML::Node::operator[]<char [10]>(char const (&) [10])':
test_ParticipantRegistry.cpp:(.text._ZN4YAML4NodeixIA10_cEES0_RKT_[_ZN4YAML4NodeixIA10_cEES0_RKT_]+0xcd8): undefined reference to `YAML::detail::node_data::convert_to_map(std::shared_ptr<YAML::detail::memory_holder> const&)'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::__cxx11::path::parent_path() const'
librmf_traffic_ros2.so: undefined reference to `vtable for YAML::BadConversion'
librmf_traffic_ros2.so: undefined reference to `typeinfo for YAML::BadConversion'
librmf_traffic_ros2.so: undefined reference to `YAML::detail::node::m_amount'
librmf_traffic_ros2.so: undefined reference to `YAML::BadConversion::~BadConversion()'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::absolute(std::filesystem::__cxx11::path const&)'
librmf_traffic_ros2.so: undefined reference to `YAML::detail::node_data::push_back(YAML::detail::node&, std::shared_ptr<YAML::detail::memory_holder> const&)'
librmf_traffic_ros2.so: undefined reference to `std::filesystemcollect2: error: ld returned 1 exit status
::create_directories(std::filesystem::__cxx11::path const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [rmf_traffic_blockade] Error 1
make[1]: *** [CMakeFiles/rmf_traffic_blockade.dir/all] Error 2
make[2]: *** [test_rmf_traffic_ros2] Error 1
make[1]: *** [CMakeFiles/test_rmf_traffic_ros2.dir/all] Error 2
librmf_traffic_ros2.so: undefined reference to `std::filesystem::__cxx11::path::parent_path() const'
librmf_traffic_ros2.so: undefined reference to `vtable for YAML::BadConversion'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::__cxx11::path::_M_split_cmpts()'
librmf_traffic_ros2.so: undefined reference to `typeinfo for YAML::BadConversion'
librmf_traffic_ros2.so: undefined reference to `YAML::detail::node_data::convert_to_map(std::shared_ptr<YAML::detail::memory_holder> const&)'
librmf_traffic_ros2.so: undefined reference to `YAML::detail::node::m_amount'
librmf_traffic_ros2.so: undefined reference to `YAML::BadConversion::~BadConversion()'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::absolute(std::filesystem::__cxx11::path const&)'
librmf_traffic_ros2.so: undefined reference to `YAML::detail::node_data::push_back(YAML::detail::node&, std::shared_ptr<YAML::detail::memory_holder> const&)'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::create_directories(std::filesystem::__cxx11::path const&)'
librmf_traffic_ros2.so: undefined reference to `std::filesystem::status(std::filesystem::__cxx11::path const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [participant_node] Error 1
make[1]: *** [CMakeFiles/participant_node.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< rmf_traffic_ros2 [3.95s, exited with code 2]

Summary: 15 packages finished [53.1s]
  1 package failed: rmf_traffic_ros2
  1 package had stderr output: rmf_traffic_ros2
  2 packages not processed

Screenshots NA.

Additional context NA.

[mxgrey]

There appears to be a linking issue with libyaml-cpp on your platform and possibly std::filesystem as well. Without having access to an nvidia jetson xavier nx, it will be quite difficult for us to identify why those linking issues exist. You'll need to check how libyaml-cpp is installed and whether its cmake config-file (or find-module) on your system is correctly importing its targets.

For your reference, the config-file for libyaml-cpp on my platform is located at /usr/lib/x86_64-linux-gnu/cmake/yaml-cpp/yaml-cpp-config.cmake

[luca-della-vedova]

Hi @winnerineast I have a Xavier NX lying around and I tried to compile rmf, here are my findings:

• The libyamlcpp-dev package available in the repositories is out of date. I actually had compile errors like ‘class YAML::Node’ has no member named ‘Mark’. I managed to fix that by manually upgrading libyamlcpp-dev and libyaml-cpp to the version on focal (i.e. downloading the .deb packages from here and installing them through dpkg -i). This is not quite an ideal solution but it seems to work, until they upgrade to Ubuntu 20.04.
• I managed to reproduce your issues with std::filesystem. It seems g++8 is not linking properly, I installed g++9 through these instructions and that got rid of the linking issue as well.

Basically it seems most of the issues arise from the ecosystem being stuck to Ubuntu 18.04 and should be solved once they provide Ubuntu 20.04 images (or if you wanted you could just upgrade manually).

[mxgrey]

Since the issue is understood and needs to be corrected on the platform rather than in any RMF package, I'm going to close this ticket.