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YARP - Yet Another Robot Platform
http://www.yarp.it
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Generate YARP_robotinterfaceConfig.cmake does not work if YARP_USE_SYSTEM_TinyXML is OFF #2512

Open traversaro opened 3 years ago

traversaro commented 3 years ago

Describe the bug If YARP_USE_SYSTEM_TinyXML is OFF, the YARP_robotinterfaceConfig.cmake is not working properly.

To Reproduce Not sure as this was problem was catched by @Iaxama, I think he just compiled YARP in a vanilla Ubuntu 20.04 image without libtinyxml-dev installed, and then he tried to compile gazebo-yarp-plugins 3.6.0 .

Expected behavior GazeboYARPPlugins should compile fine.

Screenshots Error:

CMake Error at /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package):
  Could not find a package configuration file provided by "YARP_priv_TinyXML"
  with any of the following names:

    YARP_priv_TinyXMLConfig.cmake
    yarp_priv_tinyxml-config.cmake

  Add the installation prefix of "YARP_priv_TinyXML" to CMAKE_PREFIX_PATH or
  set "YARP_priv_TinyXML_DIR" to a directory containing one of the above
  files.  If "YARP_priv_TinyXML" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  /usr/local/lib/cmake/YARP_robotinterface/YARP_robotinterfaceConfig.cmake:17 (find_dependency)
  /usr/local/lib/cmake/YARP/YARPConfig.cmake:162 (find_package)
  CMakeLists.txt:48 (find_package)

Configuration (please complete the following information):

Additional context Add any other context about the problem here.

drdanz commented 3 years ago

TinyXML (like the other "priv" libraries) is not installed when YARP is built as shared libraries, which was not an issue when robotinterface was just an executable, but it is now an issue.

I'm not sure how to handle this, because linking the static library to a shared library does not link it inside the shared library, but modifies the INTERFACE_LINK_LIBRARIES property.

Perhaps we can try making it an OBJECT library? But we should be very careful that the symbols from TinyXML are not exported...

traversaro commented 3 years ago

There is any specific use case for which we want to compile and install libYARP_robotinterface without relying on a tinyxml dependency provided on the system package manager? If we want to support a compilation with zero external dependencies, we can simply have an option to disable either compilation or installation of libYARP_robotinterface, that should be sufficient to avoid the problem on this issue.

traversaro commented 3 years ago

To clarify a bit the original issue, the only reason why we discovered this is that @Iaxama was building YARP and gazebo-yarp-plugins in a vanilla docker, and there he did not installed libtinyxml-dev, and this triggered the problem. However, he know installed it and this solved his problem. All other users I am aware of tipically just install YARP via the robotology-superbuild, and there tinyxml is always installed via apt/homebrew/vcpkg/conda, so the error was never triggered.

drdanz commented 3 years ago

Sorry, I missed the replies... I don't know about disabling libYARP_robotinterface, it is becoming a pretty important component... I think we should just re-discuss the whole "zero external dependencies" thing...

traversaro commented 3 years ago

I think we should just re-discuss the whole "zero external dependencies" thing...

I agree, with the rise of user-space package managers such as vcpkg or conda even for C++ and for Windows (where package managers have been historically lacking), I think the need for hard zero external dependencies is less strong then in the past. Even if you need to cross-compile everything for an esoteric platform (WebAssembly? Embedded RTOS?), setting up a superbuild or a colcon workspace of all the required libraries and compile all of them with the correct CMake toolchain is not difficult considering all the available tooling.

PeterBowman commented 2 years ago

This has just happened to me on a fresh Ubuntu 20.04 install with YARP version 3.7.2+1-20220630.8+gitc8450ac9e while building latest gazebo-yarp-plugins (d1995eac52adf6a273185da3eab2f279718725b9):

CMake Error at /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package):
  Could not find a package configuration file provided by "YARP_priv_TinyXML"
  with any of the following names:

    YARP_priv_TinyXMLConfig.cmake
    yarp_priv_tinyxml-config.cmake

  Add the installation prefix of "YARP_priv_TinyXML" to CMAKE_PREFIX_PATH or
  set "YARP_priv_TinyXML_DIR" to a directory containing one of the above
  files.  If "YARP_priv_TinyXML" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  /usr/local/lib/cmake/YARP_robotinterface/YARP_robotinterfaceConfig.cmake:17 (find_dependency)
  /usr/local/lib/cmake/YARP/YARPConfig.cmake:159 (find_package)
  CMakeLists.txt:49 (find_package)

Oddly enough, it actually configures successfully when I replace YARP_priv_TinyXML with YARP_priv_tinyxml, which seems to be the correct component package name. Compare:

https://github.com/robotology/yarp/blob/05ca89400b36bf26aea8cb4707f3029d14ccbda7/extern/tinyxml/CMakeLists.txt#L43

versus:

https://github.com/robotology/yarp/blob/05ca89400b36bf26aea8cb4707f3029d14ccbda7/src/libYARP_robotinterface/src/CMakeLists.txt#L105

I see more components depending on _TinyXML (such as YARP_manager) instead of _tinyxml.

PeterBowman commented 2 years ago

For some reason, BUILD_SHARED_LIBS set itself to OFF for me, hence InstallBasicPackageFiles interpreted my installation as static and requested the TinyXML component. Apparently, I also had YARP_BUILD_TinyXML set to ON. I ran a CMake configure again and both variables toggled. I wouldn't give myself too much credit here...

In any case, I think the component naming issue is a bug indeed. To reproduce, configure with -DBUILD_SHARED_LIBS=OFF -DYARP_USE_SYSTEM_TinyXML=OFF. This generates a build/YARP_robotinterface/YARP_robotinterfaceConfig.cmake file with the following line:

find_dependency(YARP_priv_TinyXML HINTS "${CMAKE_CURRENT_LIST_DIR}/.." NO_DEFAULT_PATH)

Yet the actual component (as can be seen in build/) is YARP_priv_tinyxml.

jgvictores commented 1 year ago

This has just happened to me on a Ubuntu 20.04.3 install with YARP version 3.8.0 while building latest gazebo-yarp-plugins (e613f5296c07675f8bf946299e5b1ed5e787bedf).

PeterBowman commented 3 months ago

It happened to me again on a fresh (Dockerized) Ubuntu 22.04 installation of YARP 3.9 while building gazebo-yarp-plugins:

FROM ubuntu:22.04

ARG YARP_TAG=master
ARG CORES=1

RUN DEBIAN_FRONTEND=noninteractive \
    apt-get update && \
    apt-get install -y wget unzip build-essential cmake libeigen3-dev libgazebo-dev && \
    wget -O ycm-cmake-modules.zip https://github.com/robotology/ycm-cmake-modules/archive/master.zip && \
    wget -O yarp.zip https://github.com/robotology/yarp/archive/$YARP_TAG.zip && \
    wget -O gazebo-yarp-plugins.zip https://github.com/robotology/gazebo-yarp-plugins/archive/master.zip && \
    unzip ycm-cmake-modules.zip && \
    unzip yarp.zip && \
    unzip gazebo-yarp-plugins.zip && \
    cmake -S ycm-cmake-modules-master -B ycm-cmake-modules-master/build && \
    cmake --build ycm-cmake-modules-master/build --target install && \
    cmake -S yarp-$YARP_TAG -B yarp-$YARP_TAG/build -DSKIP_ACE=ON && \
    cmake --build yarp-$YARP_TAG/build --target install -- -j$CORES && \
    cmake -S gazebo-yarp-plugins-master -B gazebo-yarp-plugins-master/build && \
    cmake --build gazebo-yarp-plugins-master/build --target install -- -j$CORES && \
    rm ycm-cmake-modules.zip yarp.zip gazebo-yarp-plugins.zip && \
    rm -rf ycm-cmake-modules-master yarp-$YARP_TAG gazebo-yarp-plugins-master && \
    apt-get clean

As a workaround, I installed the libtinyxml-dev package and built YARP again.