Fixes for building on Ubuntu Noble

[rjoomen]

Pending a rebase after #1006 and #1015 have been merged.

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 89.84%. Comparing base (2a92fa8) to head (18a89da).

Additional details and impacted files

[](https://app.codecov.io/gh/tesseract-robotics/tesseract/pull/1016?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tesseract-robotics) ```diff @@ Coverage Diff @@ ## master #1016 +/- ## ========================================== - Coverage 89.86% 89.84% -0.02% ========================================== Files 280 280 Lines 15908 15908 ========================================== - Hits 14296 14293 -3 - Misses 1612 1615 +3 ``` [see 2 files with indirect coverage changes](https://app.codecov.io/gh/tesseract-robotics/tesseract/pull/1016/indirect-changes?src=pr&el=tree-more&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tesseract-robotics)

[Levi-Armstrong]

@rjoomen Ping me when this ready. I assume you are working on changes to get the CI to pass?

[rjoomen]

Yes, there's a test failing and I didn't have time to look into it. Will have time tomorrow, I hope.

[cboostjvisser]

I have been investigating the failing tests. I have not been able to pinpoint the exact problem (yet). But here are my findings:

The failing tests are:

• https://github.com/tesseract-robotics/tesseract/blob/2a92fa8db2953591976fc91062aa3a6e31847838/tesseract_common/test/plugin_loader_unit.cpp#L85
• https://github.com/tesseract-robotics/tesseract/blob/2a92fa8db2953591976fc91062aa3a6e31847838/tesseract_common/test/plugin_loader_unit.cpp#L155

There are already comments about failing on Ubuntu 18.04 and a #if BOOST_VERSION > 106800 && !__APPLE__ surrounding the tests.

Boost investigation:

• Ubuntu 22.04(Jammy) uses Boost 1.74

• Ubuntu 24.04(Noble) uses Boost 1.83

• Downgrading just Boost.DLL(library module) from 1.83 to 1.74 does not help.

• Downgrading whole the Ubuntu Boost installation from 1.83 to 1.74 does fix the tests.

dlopen() seems to be called with exact the same arguments. But does not return handle in 1.83. See here: https://github.com/boostorg/dll/blob/6c60dde50bf67138c90cc84938111866813feaff/include/boost/dll/detail/posix/shared_library_impl.hpp#L118

Tests might not be correct?

I'm also questioning if the tests are correct. If I read this post: https://stackoverflow.com/a/17716576 It seems like we need to load a local library with "./" leading the libname, or else DT_RPATH or DT_RUNPATH needs to be set.

The current tesseract_common/class_loader.hpp always sets boost::dll::load_mode::search_system_folders if there is no library_path specified. For example: https://github.com/tesseract-robotics/tesseract/blob/2a92fa8db2953591976fc91062aa3a6e31847838/tesseract_common/include/tesseract_common/class_loader.hpp#L92 That will trigger the "./" preprending to be disabled in the Boost.DLL library: https://github.com/boostorg/dll/blob/6c60dde50bf67138c90cc84938111866813feaff/include/boost/dll/detail/posix/shared_library_impl.hpp#L97

Conclusion

Removing all the boost::dll::load_mode::search_system_folders in tesseract_common/class_loader.hpp seem to fix the tests. But not sure what other problems that might cause. I was not able to find what causes the tests to work with Boost 1.74 but not with Boost 1.83.

[rjoomen]

Additional information, adding the current directory explicitly also fixes the tests.

Change lines 85 and 86 to:

EXPECT_TRUE(ClassLoader::isClassAvailable(symbol_name, lib_name, ".")); 
auto plugin = ClassLoader::createSharedInstance<TestPluginBase>(symbol_name, lib_name, ".");

And add this before line 155:

plugin_loader.search_paths.insert(".");

[rjoomen]

The current tesseract_common/class_loader.hpp always sets boost::dll::load_mode::search_system_folders if there is no library_path specified. For example:

https://github.com/tesseract-robotics/tesseract/blob/2a92fa8db2953591976fc91062aa3a6e31847838/tesseract_common/include/tesseract_common/class_loader.hpp#L92

That will trigger the "./" preprending to be disabled in the Boost.DLL library: https://github.com/boostorg/dll/blob/6c60dde50bf67138c90cc84938111866813feaff/include/boost/dll/detail/posix/shared_library_impl.hpp#L97

Conclusion

Because class_loader sets mode search_system_folders, the Tesseract class loaders by design do not use the local directory if no search path is given.

@Levi-Armstrong, should we modify the class loader or the tests to deal with this?

[Levi-Armstrong]

I would update the unit test for now.