moveit_ros_planning fails to build with DCMAKE_BUILD_TYPE=Debug

[werner291]

Description

When building a ROS workspace with catkin build --cmake-args -DCMAKE_BUILD_TYPE=Debug, the build fails with a linker error on moveit_ros_planning.

I was hoping to debug MoveIt more easily, since I'll probably be making some modifications to it for a project I'm working on.

Your environment

• ROS Distro: Noetic
• OS Version: Ubuntu 20.04 LTS

Fresh catkin workspace, with moveit, moveit_visual_tools and moveit_resources cloned, all from default branch (master, probably).

Steps to reproduce

• Create a directory containing an src subdir
• Clone the three aforementioned repositories into it.
• Run catkin build --cmake-args -DCMAKE_BUILD_TYPE=Debug

Expected behaviour

Buildl compiletes successfully, resulting in MoveIt with debug symbols.

Actual behaviour

moveit_ros_planning compiles, but fails linking with the following error:

Errors     << moveit_ros_planning:make /home/werner/catkin_test/logs/moveit_ros_planning/build.make.000.log                                                                                                                                                                   
/usr/bin/ld: CMakeFiles/moveit_compare_collision_checking_speed_fcl_bullet.dir/src/compare_collision_speed_checking_fcl_bullet.cpp.o: undefined reference to symbol 'ccd_vec3_origin'
/usr/bin/ld: /lib/x86_64-linux-gnu/libccd.so.2: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
make[2]: *** [planning_components_tools/CMakeFiles/moveit_compare_collision_checking_speed_fcl_bullet.dir/build.make:247: /home/werner/catkin_test/devel/.private/moveit_ros_planning/lib/moveit_ros_planning/moveit_compare_collision_checking_speed_fcl_bullet] Error 1
make[1]: *** [CMakeFiles/Makefile2:3192: planning_components_tools/CMakeFiles/moveit_compare_collision_checking_speed_fcl_bullet.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [Makefile:141: all] Error 2
cd /home/werner/catkin_test/build/moveit_ros_planning; catkin build --get-env moveit_ros_planning | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

Backtrace or Console output

-------------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/noetic
Workspace:                   /home/werner/catkin_test
-------------------------------------------------------------
Build Space:        [exists] /home/werner/catkin_test/build
Devel Space:        [exists] /home/werner/catkin_test/devel
Install Space:      [unused] /home/werner/catkin_test/install
Log Space:         [missing] /home/werner/catkin_test/logs
Source Space:       [exists] /home/werner/catkin_test/src
DESTDIR:            [unused] None
-------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Debug
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
-------------------------------------------------------------
[build] Found '40' packages in 0.0 seconds.                                                                                                                                                                                                                                   
[build] Updating package table.                                                                                                                                                                                                                                               
Starting  >>> catkin_tools_prebuild                                                                                                                                                                                                                                           
Finished  <<< catkin_tools_prebuild                                          [ 1.3 seconds ]                                                                                                                                                                                  
Starting  >>> moveit_resources_fanuc_description                                                                                                                                                                                                                              
Starting  >>> moveit_resources_panda_description                                                                                                                                                                                                                              
Starting  >>> moveit_resources_pr2_description                                                                                                                                                                                                                                
Starting  >>> moveit_resources_prbt_support                                                                                                                                                                                                                                   
Finished  <<< moveit_resources_panda_description                             [ 1.7 seconds ]                                                                                                                                                                                  
Starting  >>> moveit_resources_panda_moveit_config                                                                                                                                                                                                                            
Finished  <<< moveit_resources_pr2_description                               [ 1.7 seconds ]                                                                                                                                                                                  
Finished  <<< moveit_resources_fanuc_description                             [ 1.7 seconds ]                                                                                                                                                                                  
Starting  >>> moveit_resources_fanuc_moveit_config                                                                                                                                                                                                                            
Finished  <<< moveit_resources_prbt_support                                  [ 1.8 seconds ]                                                                                                                                                                                  
Finished  <<< moveit_resources_panda_moveit_config                           [ 1.5 seconds ]                                                                                                                                                                                  
Starting  >>> moveit_core                                                                                                                                                                                                                                                     
Finished  <<< moveit_resources_fanuc_moveit_config                           [ 1.5 seconds ]                                                                                                                                                                                  
Starting  >>> moveit_resources                                                                                                                                                                                                                                                
Finished  <<< moveit_resources                                               [ 1.2 seconds ]                                                                                                                                                                                  
Finished  <<< moveit_core                                                    [ 2 minutes and 54.5 seconds ]                                                                                                                                                                   
Starting  >>> chomp_motion_planner                                                                                                                                                                                                                                            
Starting  >>> moveit_resources_prbt_ikfast_manipulator_plugin                                                                                                                                                                                                                 
Starting  >>> moveit_ros_occupancy_map_monitor                                                                                                                                                                                                                                
Starting  >>> moveit_simple_controller_manager                                                                                                                                                                                                                                
Finished  <<< moveit_simple_controller_manager                               [ 16.4 seconds ]                                                                                                                                                                                 
Starting  >>> moveit_ros_control_interface                                                                                                                                                                                                                                    
Finished  <<< moveit_resources_prbt_ikfast_manipulator_plugin                [ 22.5 seconds ]                                                                                                                                                                                 
Starting  >>> moveit_resources_prbt_moveit_config                                                                                                                                                                                                                             
Finished  <<< moveit_resources_prbt_moveit_config                            [ 2.2 seconds ]                                                                                                                                                                                  
Starting  >>> moveit_resources_prbt_pg70_support                                                                                                                                                                                                                              
Finished  <<< moveit_resources_prbt_pg70_support                             [ 2.2 seconds ]                                                                                                                                                                                  
Finished  <<< moveit_ros_control_interface                                   [ 12.1 seconds ]                                                                                                                                                                                 
Finished  <<< moveit_ros_occupancy_map_monitor                               [ 29.3 seconds ]                                                                                                                                                                                 
Starting  >>> moveit_ros_planning                                                                                                                                                                                                                                             
Finished  <<< chomp_motion_planner                                           [ 31.0 seconds ]                                                                                                                                                                                 
Starting  >>> moveit_chomp_optimizer_adapter                                                                                                                                                                                                                                  
Finished  <<< moveit_chomp_optimizer_adapter                                 [ 22.2 seconds ]                                                                                                                                                                                 
______________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << moveit_ros_planning:make /home/werner/catkin_test/logs/moveit_ros_planning/build.make.000.log                                                                                                                                                                   
/usr/bin/ld: CMakeFiles/moveit_compare_collision_checking_speed_fcl_bullet.dir/src/compare_collision_speed_checking_fcl_bullet.cpp.o: undefined reference to symbol 'ccd_vec3_origin'
/usr/bin/ld: /lib/x86_64-linux-gnu/libccd.so.2: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
make[2]: *** [planning_components_tools/CMakeFiles/moveit_compare_collision_checking_speed_fcl_bullet.dir/build.make:247: /home/werner/catkin_test/devel/.private/moveit_ros_planning/lib/moveit_ros_planning/moveit_compare_collision_checking_speed_fcl_bullet] Error 1
make[1]: *** [CMakeFiles/Makefile2:3192: planning_components_tools/CMakeFiles/moveit_compare_collision_checking_speed_fcl_bullet.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [Makefile:141: all] Error 2
cd /home/werner/catkin_test/build/moveit_ros_planning; catkin build --get-env moveit_ros_planning | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -
..............................................................................................................................................................................................................................................................................
Failed     << moveit_ros_planning:make                                       [ Exited with code 2 ]                                                                                                                                                                           
Failed    <<< moveit_ros_planning                                            [ 1 minute and 34.0 seconds ]                                                                                                                                                                    
Abandoned <<< moveit                                                         [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_planners                                                [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_plugins                                                 [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_commander                                               [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_ros                                                     [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_fake_controller_manager                                 [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_kinematics                                              [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_planners_ompl                                           [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_ros_move_group                                          [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_ros_manipulation                                        [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_ros_perception                                          [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_ros_robot_interaction                                   [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_ros_warehouse                                           [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_ros_benchmarks                                          [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_ros_planning_interface                                  [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_planners_chomp                                          [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_ros_visualization                                       [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_runtime                                                 [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_servo                                                   [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_setup_assistant                                         [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< moveit_visual_tools                                            [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< pilz_industrial_motion_planner_testutils                       [ Unrelated job failed ]                                                                                                                                                                         
Abandoned <<< pilz_industrial_motion_planner                                 [ Unrelated job failed ]                                                                                                                                                                         
[build] Summary: 17 of 41 packages succeeded.                                                                                                                                                                                                                                 
[build]   Ignored:   None.                                                                                                                                                                                                                                                    
[build]   Warnings:  None.                                                                                                                                                                                                                                                    
[build]   Abandoned: 23 packages were abandoned.                                                                                                                                                                                                                              
[build]   Failed:    1 packages failed.                                                                                                                                                                                                                                       
[build] Runtime: 5 minutes and 2.9 seconds total.                                                                                                                                                                                                                             
[build] Note: Workspace packages have changed, please re-source setup files to use them.

[v4hn]

Interesting. I have never had that issue and I develop in DEBUG builds, but I don't run on stock ubuntu. I can reproduce this in a docker container on Ubuntu 20.04.
It seems the libraries detected here do not include libccd, which is a build-export dependency of moveit_core/collision_detection_fcl.

I can't look into this any further now, but I'm wondering why the moveit_core package compiles successfully then.

[mintar]

I've dug a bit deeper into this issue.

I can confirm that this only happens when using Debug or RelWithDebugInfo builds, not Release. I've used git bisect to track down the commit that triggered this bug: 93c3f63 by @wolfv.

Specifically, that commit introduced the following lines:

https://github.com/ros-planning/moveit/blob/93c3f637b088000e5508f8efc6ce3b01e528e383/moveit_core/CMakeLists.txt#L45-L49

So after 93c3f63, we first try to use find_package to find fcl and only fall back to PkgConfig if that fails. The old behavior was to always use PkgConfig.

However, there is a bug in fcl. The find_package implementation is missing the dependencies:

find_package: FCL_LIBRARIES=fcl
PkgConfig:    FCL_LIBRARIES=/opt/ros/noetic/lib/x86_64-linux-gnu/libfcl.so;/usr/lib/x86_64-linux-gnu/libccd.so;/usr/lib/x86_64-linux-gnu/libm.so;/opt/ros/noetic/lib/liboctomap.so;/opt/ros/noetic/lib/liboctomath.so

I'll open a pull request over at the fcl repo and report back here.

[v4hn]

thank you for looking into it Martin!

…

On August 17, 2021 3:45:16 PM GMT+02:00, "Martin Günther" ***@***.***> wrote: I've dug a bit deeper into this issue. I can confirm that this only happens when using `Debug` or `RelWithDebugInfo` builds, not `Release`. I've used `git bisect` to track down the commit that triggered this bug: 93c3f63 by @wolfv. Specifically, that commit introduced the following lines: https://github.com/ros-planning/moveit/blob/93c3f637b088000e5508f8efc6ce3b01e528e383/moveit_core/CMakeLists.txt#L45-L49 So after 93c3f63, we first try to use `find_package` to find `fcl` and only fall back to PkgConfig if that fails. The old behavior was to always use PkgConfig. However, there is a bug in `fcl`. The `find_package` implementation is missing the dependencies: ```text find_package: FCL_LIBRARIES=fcl PkgConfig: FCL_LIBRARIES=/opt/ros/noetic/lib/x86_64-linux-gnu/libfcl.so;/usr/lib/x86_64-linux-gnu/libccd.so;/usr/lib/x86_64-linux-gnu/libm.so;/opt/ros/noetic/lib/liboctomap.so;/opt/ros/noetic/lib/liboctomath.so ``` I'll open a pull request over at the fcl repo and report back here. -- You are receiving this because you commented. Reply to this email directly or view it on GitHub: #2804 (comment)

-- Sent from my Android device with K-9 Mail. Please excuse my brevity.