Unable to Build Autoware.ai or carma-platform from Source

[GoodarzMehr]

Types of Issue

• [x] Anomaly report (something appears to not work correctly)
• [ ] Enhancement request (describe the enhancement being requested)
• [ ] Other (please ensure the description clarifies why the issue doesn’t fall into either of the above categories)

Descriptive summary

When building the Autoware.ai or carma-platform Docker image from source, some packages fail to build, and so does the Docker image.

Carma version where this issue was discovered

Edit: develop branch after - 3.10.0

Expected behavior

Autoware.ai and carma-platform Docker image built from source successfully.

Actual behavior

The build process outputs the following:

Starting >>> autoware_camera_lidar_calibrator
--- stderr: autoware_camera_lidar_calibrator
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
usage: setup.py [global_opts] cmd1 [cmd1_opts] [cmd2 [cmd2_opts] ...]
   or: setup.py --help [cmd1 cmd2 ...]
   or: setup.py --help-commands
   or: setup.py cmd --help

error: option --install-layout not recognized
CMake Error at catkin_generated/safe_execute_install.cmake:4 (message):

  execute_process(/home/carma/autoware.ai/build/autoware_camera_lidar_calibrator/catkin_generated/python_distutils_install.sh)
  returned error code
Call Stack (most recent call first):
  cmake_install.cmake:56 (include)

---
Failed   <<< autoware_camera_lidar_calibrator [9.97s, exited with code 1]

Something similar happens when building the carma-platform Docker image.

Steps to reproduce the actual behavior

1. cd ~/carma_ws/src/autoware.ai/docker (or cd ~/carma_ws/src/carma-platform/docker)
2. sudo ./build-image.sh -d

Related work

I have found that adding -DSETUPTOOLS_DEB_LAYOUT=OFF to the end of the docker/install.sh file can solve the issue, but this may be a temporary fix.

[msmcconnell]

@GoodarzMehr Can you confirm what branch/tag you are building from? (The Issues says 3.10.0, but I want to be sure of the exact replications steps)

[GoodarzMehr]

@msmcconnell We are on the develop branch of carma-platform and carma-develop branch of autoware.ai. I last synced our local repos with GitHub on 12/20/2021, before attempting to build them.

[msmcconnell]

After fixing a small issue in carma-base, I was able to replicate this error.

docker pull usdotfhwastoldev/carma-base:develop
cd ~/carma_ws/src/autoware.ai/docker
git checkout carma-develop
git pull
./build-image.sh -d

Gives the following exception which matches what was reported above.

Finished <<< astar_search [19.5s]
Starting >>> autoware_camera_lidar_calibrator
--- stderr: autoware_camera_lidar_calibrator
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
usage: setup.py [global_opts] cmd1 [cmd1_opts] [cmd2 [cmd2_opts] ...]
   or: setup.py --help [cmd1 cmd2 ...]
   or: setup.py --help-commands
   or: setup.py cmd --help

error: option --install-layout not recognized
CMake Error at catkin_generated/safe_execute_install.cmake:4 (message):

  execute_process(/home/carma/autoware.ai/build/autoware_camera_lidar_calibrator/catkin_generated/python_distutils_install.sh)
  returned error code
Call Stack (most recent call first):
  cmake_install.cmake:56 (include)

---
Failed   <<< autoware_camera_lidar_calibrator [15.7s, exited with code 1]

Summary: 24 packages finished [8min 21s]
  1 package failed: autoware_camera_lidar_calibrator
  9 packages had stderr output: astar_search autoware_camera_lidar_calibrator gnss ndt_cpu ndt_tku pcl_omp_registration qpoases_vendor ros_observer system_monitor
  47 packages not processed
The command '/bin/sh -c ./home/carma/autoware.ai/docker/install.sh' returned a non-zero code: 1
Error response from daemon: No such image: usdotfhwastoldev/autoware.ai:develop
Tagged usdotfhwastoldev/autoware.ai:develop as usdotfhwastoldev/autoware.ai:latest

Further investigation identified this thread https://github.com/ros/catkin/issues/863 which discusses how the -DSETUPTOOLS_DEB_LAYOUT=OFF option can be used as a work around. The root cause appears to be a non-portable call in catkin's python build that depends on setuptools. I'm not overly familiar with python installations and the impact of this argument. I think further input may be needed from the team. If we can safely add this option, then https://github.com/usdot-fhwa-stol/autoware.ai/blob/5f658d40d731c97ea780afd9986a1cb85a9e2bd1/docker/install.sh#L28 could be modified to include this with the other --cmake-args

[msmcconnell]

For development team, this is the corresponding Jira ticket https://usdot-carma.atlassian.net/browse/CAR-5122

[GoodarzMehr]

@msmcconnell I just want to note that a similar thing also happens when trying to build the Docker image for carma-platform. A similar error pops up when trying to build the carma package.

[adev4a]

I believe this issue has been fixed with https://github.com/usdot-fhwa-stol/carma-base/pull/111. Autoware.ai and carma-platform builds were verified. @GoodarzMehr you'll need to update your carma-base image first for the fix to work.

[GoodarzMehr]

I was able to build both autoware.ai and carma-platform from source and can confirm that the issue has been resolved.