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ROS 2 Navigation Framework and System
https://nav2.org/
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Issue building nav2 from binaries for ROS rolling #2716

Closed klewisBE closed 2 years ago

klewisBE commented 2 years ago

Bug report

Required Info:

Steps to reproduce issue

I started a new VM through parallels and installed rolling as described in the docs. Then i ran talker and listener to confirm it worked. Then I followed the main branch development directions for nav2. After running colcon build --symlink-install i get this error

---stderr: nav2_behavior_tree                                                                               
/usr/bin/ld: CMakeFiles/test_action_spin_action.dir/test_spin_action.cpp.o: in function `rclcpp_action::Server<nav2_msgs::action::Spin>::SharedPtr rclcpp_action::create_server<nav2_msgs::action::Spin>(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeWaitablesInterface>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp_action::Server<nav2_msgs::action::Spin>::GoalCallback, rclcpp_action::Server<nav2_msgs::action::Spin>::CancelCallback, rclcpp_action::Server<nav2_msgs::action::Spin>::AcceptedCallback, rcl_action_server_options_t const&, std::shared_ptr<rclcpp::CallbackGroup>)':
test_spin_action.cpp:(.text._ZN13rclcpp_action13create_serverIN9nav2_msgs6action4SpinEEENS_6ServerIT_E9SharedPtrESt10shared_ptrIN6rclcpp15node_interfaces17NodeBaseInterfaceEES8_INSA_18NodeClockInterfaceEES8_INSA_20NodeLoggingInterfaceEES8_INSA_22NodeWaitablesInterfaceEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS6_12GoalCallbackENS6_14CancelCallbackENS6_16AcceptedCallbackERK27rcl_action_server_options_tS8_INS9_13CallbackGroupEE[_ZN13rclcpp_action13create_serverIN9nav2_msgs6action4SpinEEENS_6ServerIT_E9SharedPtrESt10shared_ptrIN6rclcpp15node_interfaces17NodeBaseInterfaceEES8_INSA_18NodeClockInterfaceEES8_INSA_20NodeLoggingInterfaceEES8_INSA_22NodeWaitablesInterfaceEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS6_12GoalCallbackENS6_14CancelCallbackENS6_16AcceptedCallbackERK27rcl_action_server_options_tS8_INS9_13CallbackGroupEE]+0x2b4): undefined reference to `rclcpp_action::ServerBase::ServerBase(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rosidl_action_type_support_t const*, rcl_action_server_options_t const&)'
/usr/bin/ld: ../../../libnav2_spin_action_bt_node.so: undefined reference to `rclcpp_action::ClientBase::ClientBase(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rosidl_action_type_support_t const*, rcl_action_client_options_t const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [test/plugins/action/CMakeFiles/test_action_spin_action.dir/build.make:265: test/plugins/action/test_action_spin_action] Error 1
make[1]: *** [CMakeFiles/Makefile2:1876: test/plugins/action/CMakeFiles/test_action_spin_action.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: CMakeFiles/test_bt_action_node.dir/test_bt_action_node.cpp.o: in function `rclcpp_action::Server<test_msgs::action::Fibonacci>::SharedPtr rclcpp_action::create_server<test_msgs::action::Fibonacci>(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeWaitablesInterface>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp_action::Server<test_msgs::action::Fibonacci>::GoalCallback, rclcpp_action::Server<test_msgs::action::Fibonacci>::CancelCallback, rclcpp_action::Server<test_msgs::action::Fibonacci>::AcceptedCallback, rcl_action_server_options_t const&, std::shared_ptr<rclcpp::CallbackGroup>)':
test_bt_action_node.cpp:(.text._ZN13rclcpp_action13create_serverIN9test_msgs6action9FibonacciEEENS_6ServerIT_E9SharedPtrESt10shared_ptrIN6rclcpp15node_interfaces17NodeBaseInterfaceEES8_INSA_18NodeClockInterfaceEES8_INSA_20NodeLoggingInterfaceEES8_INSA_22NodeWaitablesInterfaceEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS6_12GoalCallbackENS6_14CancelCallbackENS6_16AcceptedCallbackERK27rcl_action_server_options_tS8_INS9_13CallbackGroupEE[_ZN13rclcpp_action13create_serverIN9test_msgs6action9FibonacciEEENS_6ServerIT_E9SharedPtrESt10shared_ptrIN6rclcpp15node_interfaces17NodeBaseInterfaceEES8_INSA_18NodeClockInterfaceEES8_INSA_20NodeLoggingInterfaceEES8_INSA_22NodeWaitablesInterfaceEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS6_12GoalCallbackENS6_14CancelCallbackENS6_16AcceptedCallbackERK27rcl_action_server_options_tS8_INS9_13CallbackGroupEE]+0x2b4): undefined reference to `rclcpp_action::ServerBase::ServerBase(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rosidl_action_type_support_t const*, rcl_action_server_options_t const&)'
/usr/bin/ld: CMakeFiles/test_bt_action_node.dir/test_bt_action_node.cpp.o: in function `rclcpp_action::Client<test_msgs::action::Fibonacci>::SharedPtr rclcpp_action::create_client<test_msgs::action::Fibonacci>(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeWaitablesInterface>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<rclcpp::CallbackGroup>, rcl_action_client_options_t const&)':
test_bt_action_node.cpp:(.text._ZN13rclcpp_action13create_clientIN9test_msgs6action9FibonacciEEENS_6ClientIT_E9SharedPtrESt10shared_ptrIN6rclcpp15node_interfaces17NodeBaseInterfaceEES8_INSA_18NodeGraphInterfaceEES8_INSA_20NodeLoggingInterfaceEES8_INSA_22NodeWaitablesInterfaceEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES8_INS9_13CallbackGroupEERK27rcl_action_client_options_t[_ZN13rclcpp_action13create_clientIN9test_msgs6action9FibonacciEEENS_6ClientIT_E9SharedPtrESt10shared_ptrIN6rclcpp15node_interfaces17NodeBaseInterfaceEES8_INSA_18NodeGraphInterfaceEES8_INSA_20NodeLoggingInterfaceEES8_INSA_22NodeWaitablesInterfaceEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES8_INS9_13CallbackGroupEERK27rcl_action_client_options_t]+0x218): undefined reference to `rclcpp_action::ClientBase::ClientBase(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rosidl_action_type_support_t const*, rcl_action_client_options_t const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [test/plugins/action/CMakeFiles/test_bt_action_node.dir/build.make:264: test/plugins/action/test_bt_action_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:1904: test/plugins/action/CMakeFiles/test_bt_action_node.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< nav2_behavior_tree [4.36s, exited with code 2]
Aborted  <<< nav2_costmap_2d [1.38s]

Expected behavior

Actual behavior

Additional information

SteveMacenski commented 2 years ago

I just updated rolling binaries and built from scratch locally and seems to be working fine, as well as our CI which is using the same setup is turning over OK, so I don't think the issue is the codebase, but perhaps something with your setup.

Can you try to update and upgrade everything, clean your workspace (e.g. remove build/install/log directories) and rebuild without anything cached? My guess is you updated your rolling binaries that had an ABI breaking change and you need to recompile your workspace again without cached results due to changes.

klewisBE commented 2 years ago

I re did it and it did not work. After running this command rosdep install -y -r -q --from-paths src --ignore-src --rosdistro rolling I get an error ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: nav2_bringup: Cannot locate rosdep definition for [slam_toolbox] Continuing to install resolvable dependencies... and the ROS1 bridge failed building ros_rolling with this error message Failed to find ROS 1 roscpp, skipping...

SteveMacenski commented 2 years ago

That's not related. SLAM Toolbox is not in rolling as a binary package (nor is nav2 for that matter). Does the building of the package actually fail now? What you posted above really seems to me like a rolling update + caching issue to me.

I'm unable to reproduce locally and our CI system with the same setup also has no issues.

klewisBE commented 2 years ago

I followed these directions for updating rolling. Then rebuilt nav2 as the directions say and got a very similar error. A note is that if I source just ~/ros2_rolling/install/setup.bash the build cannot find bondcpp.cmake until /opt/ros/rolling/setup.bash is also sourced.

The similar error is:

--- stderr: nav2_behavior_tree                                                                                                
/usr/bin/ld: CMakeFiles/test_action_spin_action.dir/test_spin_action.cpp.o: in function `rclcpp_action::Server<nav2_msgs::action::Spin>::SharedPtr rclcpp_action::create_server<nav2_msgs::action::Spin>(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeWaitablesInterface>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp_action::Server<nav2_msgs::action::Spin>::GoalCallback, rclcpp_action::Server<nav2_msgs::action::Spin>::CancelCallback, rclcpp_action::Server<nav2_msgs::action::Spin>::AcceptedCallback, rcl_action_server_options_t const&, std::shared_ptr<rclcpp::CallbackGroup>)':
test_spin_action.cpp:(.text._ZN13rclcpp_action13create_serverIN9nav2_msgs6action4SpinEEENS_6ServerIT_E9SharedPtrESt10shared_ptrIN6rclcpp15node_interfaces17NodeBaseInterfaceEES8_INSA_18NodeClockInterfaceEES8_INSA_20NodeLoggingInterfaceEES8_INSA_22NodeWaitablesInterfaceEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS6_12GoalCallbackENS6_14CancelCallbackENS6_16AcceptedCallbackERK27rcl_action_server_options_tS8_INS9_13CallbackGroupEE[_ZN13rclcpp_action13create_serverIN9nav2_msgs6action4SpinEEENS_6ServerIT_E9SharedPtrESt10shared_ptrIN6rclcpp15node_interfaces17NodeBaseInterfaceEES8_INSA_18NodeClockInterfaceEES8_INSA_20NodeLoggingInterfaceEES8_INSA_22NodeWaitablesInterfaceEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS6_12GoalCallbackENS6_14CancelCallbackENS6_16AcceptedCallbackERK27rcl_action_server_options_tS8_INS9_13CallbackGroupEE]+0x2b4): undefined reference to `rclcpp_action::ServerBase::ServerBase(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rosidl_action_type_support_t const*, rcl_action_server_options_t const&)'
/usr/bin/ld: ../../../libnav2_spin_action_bt_node.so: undefined reference to `rclcpp_action::ClientBase::ClientBase(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rosidl_action_type_support_t const*, rcl_action_client_options_t const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [test/plugins/action/CMakeFiles/test_action_spin_action.dir/build.make:265: test/plugins/action/test_action_spin_action] Error 1
make[1]: *** [CMakeFiles/Makefile2:1876: test/plugins/action/CMakeFiles/test_action_spin_action.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< nav2_behavior_tree [4min 37s, exited with code 2]
Aborted  <<< nav2_costmap_2d [3min 5s]

Are there any other ways I should try to get nav2 main to build?

SteveMacenski commented 2 years ago

I cannot reproduce and no other external resource currently validates that this is an issue, so I can't offer much in the way of help (not to mention that Mac isn't a Tier 1 supported OS).

You definitely shouldn't be sourcing both a source build and binaries of rolling, my guess is you've really messed up all of your paths and you really need to start over, slowly, and carefully to make sure you're doing that right thing, busting caches, and that your binaries are up to date. That's the best advice I can give you without significantly more technical detail.

rclcpp_action is definitely a dependency https://github.com/ros-planning/navigation2/blob/main/nav2_behavior_tree/CMakeLists.txt#L31 and is definitely being linked by the test https://github.com/ros-planning/navigation2/blob/main/nav2_behavior_tree/test/plugins/action/CMakeLists.txt#L6, so that screams to me either its related to Mac (compiler flags, compiler version, etc) or your paths are out of wack / not updated.

The fact that your error magically changed also makes me really think its your setup, not something related to Mac.

klewisBE commented 2 years ago

I ended up getting it to build by creating a folder with the missing dependencies and then sourcing that folder. Im still not sure what I did to be missing these dependencies but it ended up being angles, BehaviorTree.CPP, bond_core, gazebo_ros_pkgs omple and vision_opencv. Im assuming something is still somewhat broken with my setup, but this I think is a working fix.