Apollo9.0 build fail in ORIN, Linking modules/planning/scenarios/park_and_go/park_and_go_scenario_test failed

[Ybt-1]

System information
OS Platform and Distribution (Linux Ubuntu 20.04 arm64)
Apollo installed from (source):
Apollo version (9.0):
Equipment:NVIDIA DRIVE ORIN

Build issue:
This problem occurs when I run: bash apollo.sh build

[Ybt-1]

Upload the so file under /usr/lib to the /usr/lib folder of docker through docker cp outside docker. This error is solved, but the following error is added.I don't know how to solve it
ERROR: /apollo/modules/perception/lidar_detection/tools/BUILD:6:17: Linking modules/perception/lidar_detection/tools/offline_lidar_detection failed: (Exit 1): crosstool_wrapper_driver_is_not_gcc failed: error executing command external/local_config_cuda/crosstool/clang/bin/crosstool_wrapper_driver_is_not_gcc @bazel-out/aarch64-opt/bin/modules/perception/lidar_detection/tools/offline_lidar_detection-2.params /usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U@local_Uconfig_Utensorrt_S_S_Ctensorrt___Uexternal_Slocal_Uconfig_Utensorrt_Stensorrt_Slib/libnvinfer.so.8: undefined reference to nvdla::INetwork::addReshape(nvdla::ITensor*, nvdla::Dims4)

[Ybt-1]

I meet new question

(09:57:48) ERROR: /apollo/modules/planning/scenarios/park_and_go/BUILD:45:15: Linking modules/planning/scenarios/park_and_go/park_and_go_scenario_test failed: (Exit 1): crosstool_wrapper_driver_is_not_gcc failed: error executing command external/local_config_cuda/crosstool/clang/bin/crosstool_wrapper_driver_is_not_gcc @bazel-out/aarch64-opt/bin/modules/planning/scenarios/park_and_go/park_and_go_scenario_test-2.params
/usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U_S_Smodules_Splanning_Splanning_Ubase_Capollo_Uplanning_Uplanning_Ubase___Umodules_Splanning_Splanning_Ubase/libapollo_planning_planning_base.so: undefined reference to adouble::~adouble()'
/usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U_S_Smodules_Splanning_Splanning_Ubase_Capollo_Uplanning_Uplanning_Ubase___Umodules_Splanning_Splanning_Ubase/libapollo_planning_planning_base.so: undefined reference to adub::~adub()'
/usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U_S_Smodules_Splanning_Splanning_Ubase_Capollo_Uplanning_Uplanning_Ubase___Umodules_Splanning_Splanning_Ubase/libapollo_planning_planning_base.so: undefined reference to sparse_hess'
/usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U_S_Smodules_Splanning_Splanning_Ubase_Capollo_Uplanning_Uplanning_Ubase___Umodules_Splanning_Splanning_Ubase/libapollo_planning_planning_base.so: undefined reference to sparse_jac'
collect2: error: ld returned 1 exit status
(09:57:48) INFO: Elapsed time: 89.691s, Critical Path: 24.03s
(09:57:48) INFO: 375 processes: 15 disk cache hit, 216 internal, 144 local.
(09:57:48) FAILED: Build did NOT complete successfully

[Ybt-1]

Upload the so file under /usr/lib to the /usr/lib folder of docker through docker cp outside docker. This error is solved, but the following error is added.I don't know how to solve it ERROR: /apollo/modules/perception/lidar_detection/tools/BUILD:6:17: Linking modules/perception/lidar_detection/tools/offline_lidar_detection failed: (Exit 1): crosstool_wrapper_driver_is_not_gcc failed: error executing command external/local_config_cuda/crosstool/clang/bin/crosstool_wrapper_driver_is_not_gcc @bazel-out/aarch64-opt/bin/modules/perception/lidar_detection/tools/offline_lidar_detection-2.params /usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U@local_Uconfig_Utensorrt_S_S_Ctensorrt___Uexternal_Slocal_Uconfig_Utensorrt_Stensorrt_Slib/libnvinfer.so.8: undefined reference to nvdla::INetwork::addReshape(nvdla::ITensor*, nvdla::Dims4)

在docker/scripts/dev_start.sh中添加docker run -v /usr/lib:/usr/lib 这个问题会解决

[Ybt-1]

I meet new question

(09:57:48) ERROR: /apollo/modules/planning/scenarios/park_and_go/BUILD:45:15: Linking modules/planning/scenarios/park_and_go/park_and_go_scenario_test failed: (Exit 1): crosstool_wrapper_driver_is_not_gcc failed: error executing command external/local_config_cuda/crosstool/clang/bin/crosstool_wrapper_driver_is_not_gcc @bazel-out/aarch64-opt/bin/modules/planning/scenarios/park_and_go/park_and_go_scenario_test-2.params /usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U_S_Smodules_Splanning_Splanning_Ubase_Capollo_Uplanning_Uplanning_Ubase___Umodules_Splanning_Splanning_Ubase/libapollo_planning_planning_base.so: undefined reference to adouble::~adouble()' /usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U_S_Smodules_Splanning_Splanning_Ubase_Capollo_Uplanning_Uplanning_Ubase___Umodules_Splanning_Splanning_Ubase/libapollo_planning_planning_base.so: undefined reference to adub::~adub()' /usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U_S_Smodules_Splanning_Splanning_Ubase_Capollo_Uplanning_Uplanning_Ubase___Umodules_Splanning_Splanning_Ubase/libapollo_planning_planning_base.so: undefined reference to sparse_hess' /usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U_S_Smodules_Splanning_Splanning_Ubase_Capollo_Uplanning_Uplanning_Ubase___Umodules_Splanning_Splanning_Ubase/libapollo_planning_planning_base.so: undefined reference to sparse_jac' collect2: error: ld returned 1 exit status (09:57:48) INFO: Elapsed time: 89.691s, Critical Path: 24.03s (09:57:48) INFO: 375 processes: 15 disk cache hit, 216 internal, 144 local. (09:57:48) FAILED: Build did NOT complete successfully

I asked chatgpt and the reply was that this is adolc link problem, but I can see adolc.so in the container and confirm that its directory has been added to LD_LIBRARY_PATH. I wonder if this is a bug.

[Ybt-1]

I meet new question
(09:57:48) ERROR: /apollo/modules/planning/scenarios/park_and_go/BUILD:45:15: Linking modules/planning/scenarios/park_and_go/park_and_go_scenario_test failed: (Exit 1): crosstool_wrapper_driver_is_not_gcc failed: error executing command external/local_config_cuda/crosstool/clang/bin/crosstool_wrapper_driver_is_not_gcc @bazel-out/aarch64-opt/bin/modules/planning/scenarios/park_and_go/park_and_go_scenario_test-2.params /usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U_S_Smodules_Splanning_Splanning_Ubase_Capollo_Uplanning_Uplanning_Ubase___Umodules_Splanning_Splanning_Ubase/libapollo_planning_planning_base.so: undefined reference to adouble::~adouble()' /usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U_S_Smodules_Splanning_Splanning_Ubase_Capollo_Uplanning_Uplanning_Ubase___Umodules_Splanning_Splanning_Ubase/libapollo_planning_planning_base.so: undefined reference to adub::~adub()' /usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U_S_Smodules_Splanning_Splanning_Ubase_Capollo_Uplanning_Uplanning_Ubase___Umodules_Splanning_Splanning_Ubase/libapollo_planning_planning_base.so: undefined reference to sparse_hess' /usr/bin/ld: bazel-out/aarch64-opt/bin/_solib_local/_U_S_Smodules_Splanning_Splanning_Ubase_Capollo_Uplanning_Uplanning_Ubase___Umodules_Splanning_Splanning_Ubase/libapollo_planning_planning_base.so: undefined reference to sparse_jac' collect2: error: ld returned 1 exit status (09:57:48) INFO: Elapsed time: 89.691s, Critical Path: 24.03s (09:57:48) INFO: 375 processes: 15 disk cache hit, 216 internal, 144 local. (09:57:48) FAILED: Build did NOT complete successfully

I asked chatgpt and the reply was that this is adolc link problem, but I can see adolc.so in the container and confirm that its directory has been added to LD_LIBRARY_PATH. I wonder if this is a bug.

I found the problem: this is because when installing the ADOL-C library, I did not choose to install --enable-sparse. Secondly, it is not installed by default. You need to re-configure --prefix=/usr/local --enable-sparse.
Can be solved