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ros2 / rosidl_python

rosidl support for Python
Apache License 2.0
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Custom message don't compile with -Wl,--no-undefined #213

Open Rayman opened 2 weeks ago

Rayman commented 2 weeks ago

Bug report

Required Info:

Steps to reproduce issue

docker run -it ros:jazzy
cd && mkdir src && cd src
git clone https://github.com/Rayman/tutorial_interfaces.git
cd
colcon build

Expected behavior

Custom messages will compile with -Wl,--no-undefined linker flag.

Actual behavior

Starting >>> tutorial_interfaces
--- stderr: tutorial_interfaces                              
/usr/bin/ld: CMakeFiles/tutorial_interfaces_s__rosidl_typesupport_introspection_c.dir/rosidl_generator_py/tutorial_interfaces/_tutorial_interfaces_s.ep.rosidl_typesupport_introspection_c.c.o: in function `Py_XDECREF':
_tutorial_interfaces_s.ep.rosidl_typesupport_introspection_c.c:(.text+0x5a): undefined reference to `_Py_Dealloc'
/usr/bin/ld: CMakeFiles/tutorial_interfaces_s__rosidl_typesupport_introspection_c.dir/rosidl_generator_py/tutorial_interfaces/_tutorial_interfaces_s.ep.rosidl_typesupport_introspection_c.c.o: in function `_register_msg_type__msg__num':
_tutorial_interfaces_s.ep.rosidl_typesupport_introspection_c.c:(.text+0xc7): undefined reference to `PyCapsule_New'
...

Additional information

These errors indicate that the generated interfaces are not linked correctly to Python3. The solution would be to adjust the cmake files that the generated python interfaces are correctly linked.

I hope I'm filing this bug in the correct repo. If not, please point me in the right direction.

Rayman commented 1 week ago

https://github.com/ros2/rosidl_python/pull/140 changed the build to use FindPython3.cmake for building the python modules. This broke our packages that have -Wl,--no-undefined.

I'm not 100% sure but reading https://gitlab.kitware.com/cmake/cmake/-/issues/18100 it seems that python modules should not be linked to a python library, but instead use the symbols from the interpreter they are run from. This means the have undefined symbols by definition.

So do we want to:

  1. target_link_libraries the messages to Python3::Python which resolves the error
  2. Fix all packages that have -Wl,--no-undefined