Beluga ROS 2 debian builds fail sporadically #385
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bug
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It's starting to happen on AMD64 too, see https://build.ros2.org/job/Hbin_uJ64__beluga_amcl__ubuntu_jammy_amd64__binary/3. |
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I did some minimal digging, reducing Starting >>> beluga_amcl
--- stderr: beluga_amcl
In file included from /usr/include/range/v3/functional/concepts.hpp:19,
from /usr/include/range/v3/iterator/concepts.hpp:27,
from /usr/include/range/v3/range/access.hpp:34,
from /usr/include/range/v3/view/all.hpp:22,
from /ws/install/include/beluga/beluga/algorithm/raycasting/bresenham.hpp:21,
from /ws/install/include/beluga/beluga/algorithm/raycasting.hpp:22,
from /ws/install/include/beluga/beluga/sensor/beam_model.hpp:23,
from /ws/src/beluga/beluga_amcl/src/amcl_node.cpp:58:
/usr/include/range/v3/functional/invoke.hpp: In instantiation of ‘constexpr ranges::detail::iterator_associated_types_base_<ranges::iota_view<int, int>::cursor, true>::iterator_associated_types_base_(const ranges::detail::iterator_associated_types_base_<ranges::iota_view<int, int>::cursor, true>&)’:
/usr/include/range/v3/functional/invoke.hpp:138:40: recursively required from ‘constexpr ranges::basic_iterator<ranges::adaptor_cursor<ranges::basic_iterator<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >::cursor>, ranges::remove_if_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, ranges::logical_negate<beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> > >::adaptor> >::basic_iterator(const ranges::basic_iterator<ranges::adaptor_cursor<ranges::basic_iterator<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >::cursor>, ranges::remove_if_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, ranges::logical_negate<beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> > >::adaptor> >&)’
/usr/include/range/v3/functional/invoke.hpp:138:40: required from ‘constexpr decltype ((F&&)(f)((Args&&(ranges::invoke_fn::operator()::args))...)) ranges::invoke_fn::operator()(F&&, Args&& ...) const [with F = ranges::indirected<<lambda(auto:90&&)> >; Args = {ranges::basic_iterator<ranges::adaptor_cursor<ranges::basic_iterator<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >::cursor>, ranges::remove_if_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, ranges::logical_negate<beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> > >::adaptor> >&}]’
/usr/include/range/v3/functional/concepts.hpp:36:5: required by substitution of ‘template<class ... As> char (& ranges::invocable__requires_(concepts::detail::tag<As ...>*, decltype (& invocable__requires_test_<As ...>)))[1] [with As = {ranges::indirected<<lambda(auto:90&&)> >, ranges::basic_iterator<ranges::adaptor_cursor<ranges::basic_iterator<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >::cursor>, ranges::remove_if_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, ranges::logical_negate<beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> > >::adaptor> >&}]’
/usr/include/range/v3/functional/concepts.hpp:43:9: required from ‘constexpr const bool ranges::invocable<ranges::indirected<<lambda(auto:90&&)> >, ranges::basic_iterator<ranges::adaptor_cursor<ranges::basic_iterator<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >::cursor>, ranges::remove_if_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, ranges::logical_negate<beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> > >::adaptor> >&>’
/usr/include/range/v3/utility/semiregular_box.hpp:245:9: required by substitution of ‘template<class ... Args, bool CPP_true, typename std::enable_if<(invocable<ranges::indirected<<lambda(auto:90&&)> >, Args ...> && CPP_true), int>::type <anonymous> > constexpr decltype(auto) ranges::semiregular_box<ranges::indirected<<lambda(auto:90&&)> > >::operator()<Args ..., CPP_true, <anonymous> >(Args&& ...) && [with Args = {ranges::basic_iterator<ranges::adaptor_cursor<ranges::basic_iterator<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >::cursor>, ranges::remove_if_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, ranges::logical_negate<beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> > >::adaptor> >&}; bool CPP_true = true; typename std::enable_if<(invocable<ranges::indirected<<lambda(auto:90&&)> >, Args ...> && CPP_true), int>::type <anonymous> = <missing>]’
/usr/include/range/v3/functional/invoke.hpp:139:34: required by substitution of ‘template<class F, class ... Args> constexpr decltype ((F&&)(f)((Args&&(ranges::invoke_fn::operator()::args))...)) ranges::invoke_fn::operator()(F&&, Args&& ...) const [with F = ranges::semiregular_box<ranges::indirected<<lambda(auto:90&&)> > >&; Args = {ranges::basic_iterator<ranges::adaptor_cursor<ranges::basic_iterator<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >::cursor>, ranges::remove_if_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, ranges::logical_negate<beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> > >::adaptor> >&}]’
/usr/include/range/v3/functional/reference_wrapper.hpp:111:24: required by substitution of ‘template<class ... Args> constexpr decltype (ranges::invoke(static_cast<ranges::reference_wrapper<ranges::semiregular_box<ranges::indirected<<lambda(auto:90&&)> > > >::reference>((*((const ranges::reference_wrapper<ranges::semiregular_box<ranges::indirected<<lambda(auto:90&&)> > > >*)this)->ranges::detail::reference_wrapper_<ranges::semiregular_box<ranges::indirected<<lambda(auto:90&&)> > > >::t_)), static_cast<Args&&>(ranges::reference_wrapper<T>::operator()::args) ...)) ranges::reference_wrapper<ranges::semiregular_box<ranges::indirected<<lambda(auto:90&&)> > > >::operator()<Args ...>(Args&& ...) const [with Args = {ranges::basic_iterator<ranges::adaptor_cursor<ranges::basic_iterator<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >::cursor>, ranges::remove_if_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, ranges::logical_negate<beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> > >::adaptor> >&}]’
/usr/include/range/v3/functional/invoke.hpp:139:34: required by substitution of ‘template<class F, class ... Args> constexpr decltype ((F&&)(f)((Args&&(ranges::invoke_fn::operator()::args))...)) ranges::invoke_fn::operator()(F&&, Args&& ...) const [with F = const ranges::reference_wrapper<ranges::semiregular_box<ranges::indirected<<lambda(auto:90&&)> > > >&; Args = {ranges::basic_iterator<ranges::adaptor_cursor<ranges::basic_iterator<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >::cursor>, ranges::remove_if_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, ranges::logical_negate<beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> > >::adaptor> >&}]’
/usr/include/range/v3/view/transform.hpp:136:18: required from ‘struct ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > >::adaptor<false>’
/usr/include/range/v3/detail/range_access.hpp:96:31: required from ‘static constexpr decltype (rng.begin_adaptor()) ranges::range_access::begin_adaptor(Rng&) [with Rng = ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > >]’
/usr/include/range/v3/view/adaptor.hpp:40:40: required by substitution of ‘template<class D> using adaptor_cursor_t = ranges::adaptor_cursor<typename std::decay<decltype (declval<typename std::decay<decltype (ranges::range_access::begin_adaptor(declval<Derived&>()))>::type>().begin(declval<Derived&>()))>::type, typename std::decay<decltype (ranges::range_access::begin_adaptor(declval<Derived&>()))>::type> [with D = ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > >]’
/usr/include/range/v3/view/adaptor.hpp:504:46: required by substitution of ‘template<class D> static constexpr ranges::adaptor_cursor_t<D> ranges::view_adaptor<ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > >, ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::finite>::begin_cursor_<D>(D&) [with D = ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > >]’
/usr/include/range/v3/view/adaptor.hpp:517:52: required by substitution of ‘template<class D, bool CPP_true, typename std::enable_if<(same_as<D, ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > > > && CPP_true), int>::type <anonymous> > constexpr decltype (ranges::view_adaptor<ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > >, ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::finite>::begin_cursor_<D>(declval<D&>())) ranges::view_adaptor<ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > >, ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::finite>::begin_cursor<D, CPP_true, <anonymous> >() [with D = ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > >; bool CPP_true = true; typename std::enable_if<(same_as<D, ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > > > && CPP_true), int>::type <anonymous> = 0]’
/usr/include/range/v3/detail/range_access.hpp:85:31: required by substitution of ‘template<class Rng> static constexpr decltype (rng.begin_cursor()) ranges::range_access::begin_cursor(Rng&) [with Rng = const ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > >]’
/usr/include/range/v3/view/facade.hpp:39:39: required by substitution of ‘template<class Derived> using facade_iterator_t = ranges::basic_iterator<typename std::decay<decltype (ranges::range_access::begin_cursor(declval<Derived&>()))>::type> [with Derived = const ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > >]’
/usr/include/range/v3/view/facade.hpp:106:24: required by substitution of ‘template<class D, bool CPP_true, typename std::enable_if<(same_as<D, ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > > > && CPP_true), int>::type <anonymous> > constexpr ranges::detail::facade_iterator_t<const D> ranges::view_facade<ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > >, ranges::finite>::begin<D, CPP_true, <anonymous> >() const [with D = ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > >; bool CPP_true = true; typename std::enable_if<(same_as<D, ranges::iter_transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, ranges::indirected<<lambda(auto:90&&)> > > > && CPP_true), int>::type <anonymous> = 0]’
/usr/include/range/v3/range/access.hpp:86:9: required by substitution of ‘template<class ... As> char (& ranges::_begin_::has_member_begin__requires_(concepts::detail::tag<As ...>*, decltype (& has_member_begin__requires_test_<As ...>)))[1] [with As = {ranges::transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, <lambda(auto:90&&)> >&}]’
/usr/include/range/v3/range/access.hpp:93:13: required from ‘constexpr const bool ranges::_begin_::has_member_begin<ranges::transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, <lambda(auto:90&&)> >&>’
/usr/include/range/v3/range/access.hpp:133:13: required by substitution of ‘template<class R, bool CPP_true, typename std::enable_if<(_borrowed_range<R> && CPP_true), int>::type <anonymous>, typename std::enable_if<((has_member_begin<R> || has_non_member_begin<R>) && CPP_true), int>::type <anonymous> > constexpr auto ranges::_begin_::fn::operator()(R&&) const [with R = ranges::transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, <lambda(auto:90&&)> >&; bool CPP_true = true; typename std::enable_if<(_borrowed_range<R> && CPP_true), int>::type <anonymous> = <missing>; typename std::enable_if<((has_member_begin<R> || has_non_member_begin<R>) && CPP_true), int>::type <anonymous> = <missing>]’
/usr/include/range/v3/range/concepts.hpp:56:5: required by substitution of ‘template<class ... As> char (& ranges::_range__requires_(concepts::detail::tag<As ...>*, decltype (& _range__requires_test_<As ...>)))[1] [with As = {ranges::transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, <lambda(auto:90&&)> >}]’
/usr/include/range/v3/range/concepts.hpp:64:9: required from ‘constexpr const bool ranges::range<ranges::transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, <lambda(auto:90&&)> > >’
/usr/include/range/v3/range/concepts.hpp:210:9: required from ‘constexpr const bool ranges::viewable_range<ranges::transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, <lambda(auto:90&&)> > >’
/usr/include/range/v3/view/view.hpp:106:13: required by substitution of ‘template<class Rng, class ViewFn, bool CPP_true, typename std::enable_if<(viewable_range<Rng> && CPP_true), int>::type <anonymous>, typename std::enable_if<(invocable_view_closure<ViewFn, Rng> && CPP_true), int>::type <anonymous> > constexpr auto ranges::views::view_closure_base_ns::operator|(Rng&&, ranges::views::view_closure<ViewFn>) [with Rng = ranges::transform_view<ranges::filter_view<ranges::cache1_view<ranges::zip_view<ranges::detail::index_view<long unsigned int, long int>, ranges::iota_view<int, int> > >, beluga::views::detail::take_evenly_fn::operator()<ranges::iota_view<int, int> >(ranges::iota_view<int, int>&&, std::size_t) const::<lambda(const auto:91&)> >, <lambda(auto:90&&)> >; ViewFn = ranges::detail::bind_back_fn_<ranges::views::transform_base_fn, beluga_ros::LaserScan::angles() const::<lambda(int)> >; bool CPP_true = true; typename std::enable_if<(viewable_range<Rng> && CPP_true), int>::type <anonymous> = <missing>; typename std::enable_if<(invocable_view_closure<ViewFn, Rng> && CPP_true), int>::type <anonymous> = <missing>]’
/ws/install/include/beluga_ros/beluga_ros/laser_scan.hpp:71:13: required from here
/usr/include/range/v3/functional/invoke.hpp:138:40: fatal error: template instantiation depth exceeds maximum of 50 (use ‘-ftemplate-depth=’ to increase the maximum)
138 | noexcept(noexcept(((F&&) f)((Args&&) args...)))
| ~~~~~~~~~^~~~~~~~~~~~~~~~~~
compilation terminated.
If buildfarm machines are already loaded, I can see them crashing on such deep template compilation. I don't see a way to improve it other than making less aggressive use of ranges 😢 FYI @nahueespinosa. |
hidmic
changed the title
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I've so far failed to reduce template nesting. I think we'll have to go the explicit instantiation route instead, as you suggested @nahueespinosa, and hope we can cut enough bloat that way. |
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Another datapoint here. The latest versions of Beluga seem ot have a lot of memory, far more than older versions (start of year). Updating the kobuki stack's beluga version to the latest from a version from last January turned it into unbuildable in a 8GB raspberry 5 unless the sequential colcon executor is used. Peak memory usage happens when bulding The same issue happened in a 16GB x64 desktop shortly after. Again, peak memory usage happened on |
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@glpuga it's the templates. |
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Got another death on the farm https://build.ros2.org/job/Jbin_uN64__beluga_amcl__ubuntu_noble_amd64__binary. We gotta fix this. |
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I don't think this is a situation that deteriorated over time from start of year, really, but now we have two independent targets in beluga_amcl that get built at the same time, doubling the issue. A stopgap solution might be to temporarily daisy chain those two targets with cmake so they don't get built at the same time, while we look for a better solution. |
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A current thread with a lot of information about this: https://discourse.ros.org/t/openvdb-compile-size/38790/4
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It's interesting that "the buildfarm by default already uses MAKEFLAGS=-j1", which means my previous stopgap won't make any difference. |
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I've been following that thread. It basically confirms our suspicion: the allocation build jobs get on buildfarm VMs is small-ish for today's standards. We need the compiler to use less memory. |
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This line has a template depth of 62: https://github.com/Ekumen-OS/beluga/blob/main/beluga_amcl/src/amcl_node.cpp#L194 The ranges library should be like a walk in the park compared to this 😅 |
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Some concrete findings after poking at the codebase for a while:
That's not much, but it can add up. Restructuring our libraries differently might help. |
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Leaving these here for future reference. https://wiki.debian.org/ReduceBuildMemoryOverhead |
7 tasks
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Test target analysis:
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What's going on with cluster based estimation? 👀 |
Many, many layers of range adaptors. I'm currently refactoring the estimation library to address this. A good part of it comes from the test code itself though. |
nahueespinosa
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### Proposed changes Related to #385. Improves memory usage during compilation of the classic amcl node. #### Type of change - [ ] 🐛 Bugfix (change which fixes an issue) - [x] 🚀 Feature (change which adds functionality) - [ ] 📚 Documentation (change which fixes or extends documentation) ### Checklist - [x] Lint and unit tests (if any) pass locally with my changes - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have added necessary documentation (if appropriate) - [x] All commits have been signed for [DCO](https://developercertificate.org/) ### Additional comments The total memory usage does not improve when compiling the whole `beluga_amcl` package as the NDT nodes are the bottleneck now. I will work on that in follow-up PRs. Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
nahueespinosa
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Oct 15, 2024
### Proposed changes Related to #385. As the title says, refactors the estimation library to reduce compile times, improve consistency, and make it easier to extend. #### Type of change - [ ] 🐛 Bugfix (change which fixes an issue) - [x] 🚀 Feature (change which adds functionality) - [ ] 📚 Documentation (change which fixes or extends documentation) 💥 **Breaking change!** `beluga::calculate_covariance` is `beluga::covariance` and the algorithms are niebloids now. ### Checklist - [x] Lint and unit tests (if any) pass locally with my changes - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have added necessary documentation (if appropriate) - [x] All commits have been signed for [DCO](https://developercertificate.org/) ### Additional comments There is room for improvement around this design (i.e. optional return types, more overloads). --------- Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
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Bug description
Platform (please complete the following information):
Belugaversion: 2.0.0How to reproduce
No way to reproduce. Only observed in the ROS buildfarm, see https://build.ros2.org/job/Hbin_ujv8_uJv8__beluga_amcl__ubuntu_jammy_arm64__binary/1 or https://build.ros2.org/job/Ibin_ujv8_uJv8__beluga_amcl__ubuntu_jammy_arm64__binary/3.
Expected behavior
Builds succeed consistently.
Actual behavior
Every other builds fails with:
Additional context
This looks like the compiler getting killed by the OS when close enough to exhaust all system memory. I don't know what resources do ROS buildfarm ARM64 instances have or how many release jobs may be running concurrently at any given time, but at the very least we could check if any of our templates is particularly hard to expand e.g. using
-ftemplate-depth=nto search for them by trial and error.The text was updated successfully, but these errors were encountered: