not able to build due to cgal error

[smvaraprasad]

I have followed the instructions in your github readme.md

input command:

output:

expected output: successful build

looked at these links: https://github.com/CGAL/cgal/issues/6647 https://github.com/microsoft/vcpkg/issues/23098 did not understand what to do.

followup: on trying to build again, I didnt get error this time, but build is not finished yet. it is at 40% after 40 mins.

how much time, it should take normally?

configuration: gazebo garden wsl2 ubuntu 22.04 jammy i5 9th gen, 8gb ram, windows 10 (updated version)

[srmainwaring]

Hi @smvaraprasad, I have not attempted to build on WSL, and I am not familiar enough with the environment to know whether there would be differences compared to running natively on an Ubuntu machine.

The build takes under a minute on my mac, and a bit over a minute on an Ubuntu Kinetic (22.10) VM (assigned 4 processors and 8GB RAM).

The versions of CGAL I see on these systems are:

macOS:

% brew info cgal
==> cgal: stable 5.5.1 (bottled)
Computational Geometry Algorithms Library
https://www.cgal.org/
/usr/local/Cellar/cgal/5.5.1 (3,681 files, 38.4MB) *
  Poured from bottle on 2023-01-08 at 23:00:17
From: https://github.com/Homebrew/homebrew-core/blob/HEAD/Formula/cgal.rb
License: GPL-3.0-or-later

Ubuntu:

$ apt search libcgal-dev 
Sorting... Done
Full Text Search... Done
libcgal-dev/kinetic,now 5.5-1 amd64 [installed]
  C++ library for computational geometry (development files)

Either way, you should be able to ignore the warning or follow this advice (https://stackoverflow.com/questions/71713439/what-is-cgaldata-file-path) and add

set(CGAL_DATA_DIR ".")

to CMakeLists.txt as the CGAL_DATA_DIR is not used by the code (no calls to the function that requires it).

[srmainwaring]

@smvaraprasad - I can confirm that this project builds and runs on WSL2.

There are a couple of updates needed for the instructions:

There is a build dependency on TBB (should not be needed now, but seems to be left in CMakeLists.txt):

sudo apt install libtbb-dev

When running you also need to specify the system plugin location:

export GZ_SIM_SYSTEM_PLUGIN_PATH=\
$HOME/gz_ws/install/lib

System details:

• Win11 in a VMware Fusion 13 VM. 4 cores and 16GB RAM, 8GB shared graphics memory.
• WLS2 with Ubuntu 22.04.

$ uname -a
Linux Win11 5.15.79.1-microsoft-standard-WSL2 #1 SMP Wed Nov 23 01:01:46 UTC 2022 x86_64 x86_64 x86_64 GNU/Linux

Gazebo Garden was installed following the instructions here: https://gazebosim.org/docs/garden/install_ubuntu. Before the install I ran a sudo apt update && sudo apt upgrade to get everything current.

You also need the dev tools from the install from source page: https://gazebosim.org/docs/garden/install_ubuntu_src.

The build took about 3-4 mins on WLS2.

I'm not sure what might be causing your problems. If you try building in the source directory and post a full build log it may be clearer (switch off the test build to speed things up and reduce dependencies):

cd $HOME/gz_ws/src/asv_wave_sim/gz-waves
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_CXX_STANDARD=17 -DBUILD_TESTING=OFF
make -j4

[srmainwaring]

@smvaraprasad closing as verified to work. I suspect this is a case of updating your WSL2 / Ubuntu install rather than a problem with this project. Feel free to post build logs if you are unable to resolve.

[smvaraprasad]

error_asv_srmainwaring.txt This is the total error, when tried to run command " colcon build --symlink-install --merge-install --cmake-args \ -DCMAKE_BUILD_TYPE=RelWithDebInfo \ -DBUILD_TESTING=ON \ -DCMAKE_CXX_STANDARD=17 "

error_asv_srmainwaring_2.txt This is the total error, when tried to run command "cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_CXX_STANDARD=17 -DBUILD_TESTING=OFF make -j4"

system: ubuntu 22.04 =>cgal version is 5.4

I have followed all of your instructions, excuse the delay. As I switched from wsl to ubuntu (dual boot).

[srmainwaring]

@smvaraprasad thanks for the build logs. Both builds completed without errors (a number of warnings, but these don't prevent the build completing). The line stderr output refers to the stream of warnings emitted by the compiler / linker during the build, it does not mean the build failed.

# from error_asv_srmainwaring.txt

...

Finished <<< gz-waves1 [4min 21s]

Summary: 1 package finished [4min 21s]
  1 package had stderr output: gz-waves1

You should be able to run the simulation with this build.

I'll look into eliminating the warnings that apply to the wave plugins. The other warnings for various gz libs will need to be corrected upstream.

[smvaraprasad]

There is a distorted sky, static water with no waves and as i started the simulation, boat, duck etc sunk. apparently there are some plugins missing according to the log, these plugins are mentioned in the end of readme.md under the title of changes. Was i supposed to make the changes? error_asv_srmainwaring_3.txt

[srmainwaring]

apparently there are some plugins missing according to the log,

Yes the log reports that you are missing the plugins which means that gz sim can't find them. You may have forgotten to export the resource paths GZ_SIM_RESOURCE_PATH etc. in the terminal you are running the simulation.

The issue with the sky is something else - looks like a render system issue. Is this on Ubuntu or WSL? Either way it suggests there may be a graphics card or graphics driver issue that needs investigating. You can run a simulation with the sky without loading the waves (the sky is set in the block of the world file) to check that it's working correctly.

[smvaraprasad]

The issue is still the same, output still looks the same. logs are still the same. system is ubuntu 22.04 jammy. it is saying it is unable to find the plugins through some library search paths, kindly let me know how to correct those paths if there is any error. I have followed all your instructions mentioned.

• and the mentioned graphics driver issue, how to correct that?

smvaraprasad@smvaraprasad-IdeaPad-L340-15IRH-Gaming:~/gz_ws/src$ export | grep GZ_SIM_RESOURCE_PATH declare -x GZ_SIM_RESOURCE_PATH="/home/smvaraprasad/gz_ws/src/asv_wave_sim/gz-waves-models/models:/home/smvaraprasad/gz_ws/src/asv_wave_sim/gz-waves-models/world_models:/home/smvaraprasad/gz_ws/src/asv_wave_sim/gz-waves-models/worlds"

error_asv_srmainwaring_4.txt

[srmainwaring]

It looks like your library path is still not correct. Please run:

printenv | grep GZ_SIM

and paste the result into your reply.

If you have a problem rendering the sky in an example that doesn't include the waves plugins and models (i.e. comment out the waves model in a world SDF file, but retain the <scene> element that includes the sky), you should follow up with the Gazebo team about that on the open robotics discourse site. It most likely indicates an issue with your configuration / video card rather than an issue with Gazebo, it's not related to this project.

[smvaraprasad]

no output... tried from both gz_ws/src and home directory

[srmainwaring]

no output... tried from both gz_ws/src and home directory

nothing from

env | grep GZ_SIM

either? Then you have not set up the environment correctly. The two variables GZ_SIM_SYSTEM_PLUGIN_PATH and GZ_SIM_RESOURCE_PATH need to include the locations of all plugins and resources respectively according to the instructions in the README.

They need to be set up for each terminal you use to run the simulation, which can be done by exporting the environment variables in each terminal or by setting them in ~/.bashrc. This is independent of the current working directory.

[smvaraprasad]

looks like i have to run the export command everytime, now i ran it again. after this i tried to simulate , still the output and log files are same.

printenv_output_asv_srmainwaring.txt

[srmainwaring]

looks like i have to run the export command everytime

Yes, it needs to be run in every terminal you use to run the simulation. This is why you might want to add the export to the ~/.bashrc or set up shell script containing the exports you can source when running simulations.

The environment is incomplete:

smvaraprasad@smvaraprasad-IdeaPad-L340-15IRH-Gaming:~/gz_ws/src$ printenv | grep GZ_VERSION
GZ_VERSION=garden
smvaraprasad@smvaraprasad-IdeaPad-L340-15IRH-Gaming:~/gz_ws/src$ printenv | grep GZ_SIM
GZ_SIM_RESOURCE_PATH=/home/smvaraprasad/gz_ws/src/asv_wave_sim/gz-waves-models/models:/home/smvaraprasad/gz_ws/src/asv_wave_sim/gz-waves-models/world_models:/home/smvaraprasad/gz_ws/src/asv_wave_sim/gz-waves-models/worlds

The last command should include an entry for GZ_SIM_SYSTEM_PLUGIN_PATH as well, but doesn't indicating you have not set this variable correctly. This is the reason the plugins are not found by gz sim.

[smvaraprasad]

Was this supposed to be done manually? Sorry but I didn't find this in the readme.md . Can you help me set this env variable?

[srmainwaring]

Was this supposed to be done manually? Sorry but I didn't find this in the readme.md . Can you help me set this env variable?

Hmmm.. looks like I may have inadvertently dropped setting the plugin path from https://github.com/srmainwaring/asv_wave_sim#set-environment-variables

export GZ_SIM_SYSTEM_PLUGIN_PATH=$GZ_SIM_SYSTEM_PLUGIN_PATH:/home/smvaraprasad/gz_ws/install/lib

should be the location of the plugins in your case if you use --merge-install to build.

[smvaraprasad]

I think you missed src in the path /home/smvaraprasad/gz_ws/src/install/lib. I corrected it and placed it, it is now able to generate waves, sky is not getting rendered nicely and there are few errors in the build log, attaching... (it mentions about ardupilot weirdly.) error_asv_srmainwaring_5.txt

[srmainwaring]

Good to know it's working.

The WAM-V is set up to be controller by ArduPilot, so it's looking for the ArduPilot plugin. The warning can be safely ignored...

I'm not sure what is going on with the sky rendering. As mentioned earlier, if the error persists when the waves model and plugin is removed then its an issue with the core Gazebo render engine rather than this plugin. There may be a conflict with the waves visual, but I cannot replicate it.

The other errors (the collision errors) have to do with the DART physics engine in gz-physics6. They are not particular to this plugin. They can be safely ignored - I believe the Gazebo team are aware of them and there may be an issue already to deal with that.

[smvaraprasad]

Okay, Thank you for your time!