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tbb linking issues in downstream projects (velodyne_gazebo_plugins) #270

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tohsin opened this issue Jun 12, 2022 · 13 comments
Closed

tbb linking issues in downstream projects (velodyne_gazebo_plugins) #270

tohsin opened this issue Jun 12, 2022 · 13 comments

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@tohsin
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tohsin commented Jun 12, 2022

I am trying to run a simulator from
https://github.com/yukkysaito/vehicle_sim.git
I admit I am still very new to this stuff but when I do catkin_make after the other steps I get an error

[  6%] Linking CXX shared library /Users/emma/dev/robotics/ros_projects/catkin_ws/devel/lib/libgazebo_ros_velodyne_laser.dylib
Undefined symbols for architecture x86_64:
  "tbb::detail::r1::deallocate(tbb::detail::d1::small_object_pool&, void*, unsigned long, tbb::detail::d1::execution_data const&)", referenced from:
      void tbb::detail::d1::small_object_allocator::deallocate<tbb::detail::d1::graph_task>(tbb::detail::d1::graph_task*, tbb::detail::d1::execution_data const&) in GazeboRosVelodyneLaser.cpp.o
  "tbb::detail::r1::initialize(tbb::detail::d1::task_arena_base&)", referenced from:
      tbb::detail::d1::task_arena::initialize()::'lambda'()::operator()() const in GazeboRosVelodyneLaser.cpp.o
  "tbb::detail::r1::notify_waiters(unsigned long)", referenced from:
      tbb::detail::d1::wait_context::add_reference(long long) in GazeboRosVelodyneLaser.cpp.o
  "tbb::detail::r1::cache_aligned_deallocate(void*)", referenced from:
      tbb::detail::d1::graph::~graph() in GazeboRosVelodyneLaser.cpp.o
      tbb::detail::d1::cache_aligned_allocator<tbb::detail::d1::graph_task*>::deallocate(tbb::detail::d1::graph_task**, unsigned long) in GazeboRosVelodyneLaser.cpp.o
  "tbb::detail::r1::is_group_execution_cancelled(tbb::detail::d1::task_group_context&)", referenced from:
      tbb::detail::d1::task_group_context::is_group_execution_cancelled() in GazeboRosVelodyneLaser.cpp.o
  "tbb::detail::r1::wait(tbb::detail::d1::wait_context&, tbb::detail::d1::task_group_context&)", referenced from:
      tbb::detail::d1::wait(tbb::detail::d1::wait_context&, tbb::detail::d1::task_group_context&) in GazeboRosVelodyneLaser.cpp.o
  "tbb::detail::r1::reset(tbb::detail::d1::task_group_context&)", referenced from:
      tbb::detail::d1::task_group_context::reset() in GazeboRosVelodyneLaser.cpp.o
  "tbb::detail::r1::destroy(tbb::detail::d1::task_group_context&)", referenced from:
      tbb::detail::d1::task_group_context::~task_group_context() in GazeboRosVelodyneLaser.cpp.o
  "tbb::detail::r1::execute(tbb::detail::d1::task_arena_base&, tbb::detail::d1::delegate_base&)", referenced from:
      void tbb::detail::d1::task_arena::execute_impl<void, tbb::detail::d1::graph::wait_for_all()::'lambda'()::operator()() const::'lambda'()>(tbb::detail::d1::graph::wait_for_all()::'lambda'()::operator()() const::'lambda'()&) in GazeboRosVelodyneLaser.cpp.o
  "tbb::detail::r1::terminate(tbb::detail::d1::task_arena_base&)", referenced from:
      tbb::detail::d1::task_arena::terminate() in GazeboRosVelodyneLaser.cpp.o
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/emma/dev/robotics/ros_projects/catkin_ws/devel/lib/libgazebo_ros_velodyne_laser.dylib] Error 1
make[1]: *** [vehicle_sim/vehicle/sensor_model/velodyne/velodyne_gazebo_plugins/CMakeFiles/gazebo_ros_velodyne_laser.dir/all] Error 2
make: *** [all] Error 2
make: INTERNAL: Exiting with 5 jobserver tokens available; should be 4!
@Tobias-Fischer
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Is that on OSX? What's the output of conda list?

@traversaro
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This indeed seems similar to conda-forge/gazebo-feedstock#121 . The output of conda list as mentioend by @Tobias-Fischer could help us to debug the problem more.

@tohsin
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tohsin commented Jun 12, 2022

yeah osx sorry forgot to state that, the conda list output is

# packages in environment at /Users/emma/opt/miniconda3/envs/robostackenv:
#
# Name                    Version                   Build  Channel
apr                       1.7.0                h0d85af4_5    conda-forge
assimp                    5.2.3                hbcca2e3_1    conda-forge
atk-1.0                   2.36.0               he69c4ee_4    conda-forge
bcrypt                    3.2.2            py39h701faf5_0    conda-forge
blosc                     1.21.1               h97e831e_3    conda-forge
boost                     1.74.0           py39ha1f3e3e_5    conda-forge
boost-cpp                 1.74.0               hdbf7018_7    conda-forge
brotli                    1.0.9                h5eb16cf_7    conda-forge
brotli-bin                1.0.9                h5eb16cf_7    conda-forge
bullet-cpp                3.21                 h428e3ee_1    conda-forge
bzip2                     1.0.8                h0d85af4_4    conda-forge
c-ares                    1.18.1               h0d85af4_0    conda-forge
ca-certificates           2022.5.18.1          h033912b_0    conda-forge
cairo                     1.16.0            he01c77b_1009    conda-forge
catkin_pkg                0.5.0              pyhd8ed1ab_0    conda-forge
certifi                   2022.5.18.1      py39h6e9494a_0    conda-forge
cffi                      1.15.0           py39he338e87_0    conda-forge
cfitsio                   4.1.0                h2c97ad1_0    conda-forge
cmake                     3.23.1               h35a7dd9_0    conda-forge
console_bridge            1.0.2                hbb4e6a2_1    conda-forge
cppzmq                    4.8.1                hf09c4ce_0    conda-forge
cryptography              36.0.2           py39h1644bb1_1    conda-forge
curl                      7.83.1               h372c54d_0    conda-forge
cycler                    0.11.0             pyhd8ed1ab_0    conda-forge
dartsim                   6.12.1               h000cc95_3    conda-forge
defusedxml                0.7.1              pyhd8ed1ab_0    conda-forge
distro                    1.6.0              pyhd8ed1ab_0    conda-forge
docutils                  0.18.1           py39h6e9494a_1    conda-forge
eigen                     3.4.0                h940c156_0    conda-forge
empy                      3.3.4              pyh9f0ad1d_1    conda-forge
expat                     2.4.8                h96cf925_0    conda-forge
fcl                       0.7.0                h31ff308_0    conda-forge
ffmpeg                    4.3.2                hbf27d7b_3    conda-forge
flann                     1.9.1             h30321d8_1010    conda-forge
font-ttf-dejavu-sans-mono 2.37                 hab24e00_0    conda-forge
font-ttf-inconsolata      3.000                h77eed37_0    conda-forge
font-ttf-source-code-pro  2.038                h77eed37_0    conda-forge
font-ttf-ubuntu           0.83                 hab24e00_0    conda-forge
fontconfig                2.13.94              h10f422b_0    conda-forge
fonts-conda-ecosystem     1                             0    conda-forge
fonts-conda-forge         1                             0    conda-forge
fonttools                 4.33.3           py39h701faf5_0    conda-forge
freeimage                 3.18.0               haf7e230_8    conda-forge
freetype                  2.10.4               h4cff582_1    conda-forge
freexl                    1.0.6                h0d85af4_0    conda-forge
fribidi                   1.0.10               hbcb3906_0    conda-forge
gazebo                    11.10.2              h08bfaa4_0    conda-forge
gdbm                      1.18                 h8a0c380_2    conda-forge
gdk-pixbuf                2.42.8               hb161b9c_0    conda-forge
geos                      3.10.2               he49afe7_0    conda-forge
geotiff                   1.7.1                had63758_1    conda-forge
gettext                   0.19.8.1          hd1a6beb_1008    conda-forge
giflib                    5.2.1                hbcb3906_2    conda-forge
gmock                     1.11.0               hbb4e6a2_0    conda-forge
gmp                       6.2.1                h2e338ed_0    conda-forge
gnutls                    3.6.13               h756fd2b_1    conda-forge
gpgme                     1.16.0               he49afe7_0    conda-forge
graphite2                 1.3.13            h2e338ed_1001    conda-forge
graphviz                  2.50.0               h2b5222e_2    conda-forge
gst-plugins-base          1.18.5               h63a84d5_3    conda-forge
gstreamer                 1.20.2               hdc08c3f_0    conda-forge
gtest                     1.11.0               hbb4e6a2_0    conda-forge
gtk2                      2.24.33              h7c1209e_2    conda-forge
gts                       0.7.6                hccb3bdf_2    conda-forge
harfbuzz                  3.4.0                h447b35c_0    conda-forge
hdf4                      4.2.15               hefd3b78_3    conda-forge
hdf5                      1.12.1          nompi_ha60fbc9_104    conda-forge
icu                       69.1                 he49afe7_0    conda-forge
imath                     3.1.5                hd9580d2_0    conda-forge
jasper                    2.0.33               h013e400_0    conda-forge
jbig                      2.1               h0d85af4_2003    conda-forge
jpeg                      9e                   h5eb16cf_1    conda-forge
json-c                    0.16                 h01d06f9_0    conda-forge
jsoncpp                   1.9.5                h940c156_1    conda-forge
jxrlib                    1.1                  h35c211d_2    conda-forge
kealib                    1.4.14               h4dab1bc_4    conda-forge
kiwisolver                1.4.2            py39h7248d28_1    conda-forge
krb5                      1.19.3               hb49756b_0    conda-forge
lame                      3.100             h35c211d_1001    conda-forge
lcms2                     2.12                 h577c468_0    conda-forge
lerc                      3.0                  he49afe7_0    conda-forge
libapr                    1.7.0                h0d85af4_5    conda-forge
libapriconv               1.2.2                h0d85af4_5    conda-forge
libaprutil                1.6.1                h664449b_5    conda-forge
libassuan                 2.5.5                he49afe7_0    conda-forge
libblas                   3.9.0           14_osx64_openblas    conda-forge
libbrotlicommon           1.0.9                h5eb16cf_7    conda-forge
libbrotlidec              1.0.9                h5eb16cf_7    conda-forge
libbrotlienc              1.0.9                h5eb16cf_7    conda-forge
libcblas                  3.9.0           14_osx64_openblas    conda-forge
libccd                    2.1                  he49afe7_1    conda-forge
libclang                  13.0.1          default_he082bbe_0    conda-forge
libcurl                   7.83.1               h372c54d_0    conda-forge
libcxx                    14.0.3               hc203e6f_0    conda-forge
libdap4                   3.20.6               h3e144a0_2    conda-forge
libdeflate                1.10                 h0d85af4_0    conda-forge
libedit                   3.1.20191231         h0678c8f_2    conda-forge
libev                     4.33                 haf1e3a3_1    conda-forge
libffi                    3.4.2                h0d85af4_5    conda-forge
libgd                     2.3.3                hb8742e1_1    conda-forge
libgdal                   3.4.2                h1d5b9b0_6    conda-forge
libgfortran               5.0.0           9_3_0_h6c81a4c_23    conda-forge
libgfortran5              9.3.0               h6c81a4c_23    conda-forge
libglib                   2.70.2               hf1fb8c0_4    conda-forge
libgpg-error              1.44                 h57e8f2d_0    conda-forge
libiconv                  1.16                 haf1e3a3_0    conda-forge
libignition-cmake2        2.12.1               h96cf925_0    conda-forge
libignition-common3       3.13.2               h39c3357_1    conda-forge
libignition-fuel-tools4   4.4.0                h1699cbd_6    conda-forge
libignition-math6         6.11.0           py39h0547306_1    conda-forge
libignition-msgs5         5.7.0                h08ae71b_2    conda-forge
libignition-tools1        1.4.1                hcdefd0e_2    conda-forge
libignition-transport8    8.1.0               h4b67353_10    conda-forge
libkml                    1.3.0             h8fd9edb_1014    conda-forge
liblapack                 3.9.0           14_osx64_openblas    conda-forge
liblapacke                3.9.0           14_osx64_openblas    conda-forge
libllvm13                 13.0.1               h64f94b2_2    conda-forge
libnetcdf                 4.8.1           nompi_h6609ca0_102    conda-forge
libnghttp2                1.47.0               h942079c_0    conda-forge
libode                    0.16.2              hfd1d529_10    conda-forge
libogg                    1.3.4                h35c211d_1    conda-forge
libopenblas               0.3.20          openmp_hb3cd9ec_0    conda-forge
libopencv                 4.5.5            py39h4c4289c_4    conda-forge
libopus                   1.3.1                hc929b4f_1    conda-forge
libpng                    1.6.37               h7cec526_2    conda-forge
libpq                     14.2                 hea3049e_0    conda-forge
libprotobuf               3.19.4               hcf210ce_0    conda-forge
libraw                    0.20.2               hefd3b78_1    conda-forge
librsvg                   2.52.5               h5e5d7d9_2    conda-forge
librttopo                 1.1.0                hec60dd8_9    conda-forge
libsdformat               9.3.0                h6955478_5    conda-forge
libsodium                 1.0.18               hbcb3906_1    conda-forge
libspatialite             5.0.1               hadde3e2_15    conda-forge
libssh2                   1.10.0               h52ee1ee_2    conda-forge
libtar                    1.2.20            h0d85af4_1004    conda-forge
libtiff                   4.3.0                h17f2ce3_3    conda-forge
libtool                   2.4.6             he49afe7_1008    conda-forge
libusb                    1.0.26             hc2f2c32_100    conda-forge
libuv                     1.43.0               h0d85af4_0    conda-forge
libvorbis                 1.3.7                h046ec9c_0    conda-forge
libwebp                   1.2.2                h28dabe5_0    conda-forge
libwebp-base              1.2.2                h0d85af4_1    conda-forge
libxcb                    1.13              h0d85af4_1004    conda-forge
libxml2                   2.9.12               h7e28ab6_1    conda-forge
libzip                    1.8.0                h8b0c345_1    conda-forge
libzlib                   1.2.11            h6c3fc93_1014    conda-forge
llvm-openmp               14.0.3               ha654fa7_0    conda-forge
log4cxx                   0.11.0               h20ea53c_3    conda-forge
lz4                       4.0.0            py39hb225d64_1    conda-forge
lz4-c                     1.9.3                he49afe7_1    conda-forge
matplotlib-base           3.5.2            py39h64a0072_0    conda-forge
munkres                   1.1.4              pyh9f0ad1d_0    conda-forge
mysql-common              8.0.29               h924029e_0    conda-forge
mysql-libs                8.0.29               h3cab752_0    conda-forge
ncurses                   6.3                  h96cf925_1    conda-forge
netifaces                 0.10.9          py39h89e85a6_1005    conda-forge
nettle                    3.6                  hedd7734_0    conda-forge
nose                      1.3.7                   py_1006    conda-forge
nspr                      4.32                 hcd9eead_1    conda-forge
nss                       3.77                 hfce436b_0    conda-forge
numpy                     1.22.3           py39h214027c_2    conda-forge
octomap                   1.9.7                h940c156_0    conda-forge
ogre                      1.10.12              hf29afee_8    conda-forge
openal-soft               1.21.1               h940c156_0    conda-forge
openexr                   3.1.5                h6fbc5c6_0    conda-forge
openh264                  2.1.1                hfd3ada9_0    conda-forge
openjpeg                  2.4.0                h6e7aa92_1    conda-forge
openssl                   1.1.1o               hfe4f2af_0    conda-forge
orocos-kdl                1.5.1                h9fcab8e_2    conda-forge
packaging                 21.3               pyhd8ed1ab_0    conda-forge
pango                     1.50.3               h7f27720_0    conda-forge
paramiko                  2.10.4             pyhd8ed1ab_0    conda-forge
pcre                      8.45                 he49afe7_0    conda-forge
pillow                    9.1.0            py39hd2c7aa1_2    conda-forge
pip                       22.1               pyhd8ed1ab_0    conda-forge
pixman                    0.40.0               hbcb3906_0    conda-forge
pkg-config                0.29.2            ha3d46e9_1008    conda-forge
poco                      1.11.1               h05990ec_0    conda-forge
poppler                   22.01.0              h9573804_0    conda-forge
poppler-data              0.4.11               hd8ed1ab_0    conda-forge
postgresql                14.2                 he8fe76e_0    conda-forge
proj                      9.0.0                h2364a93_1    conda-forge
psutil                    5.9.0            py39h63b48b0_1    conda-forge
pthread-stubs             0.4               hc929b4f_1001    conda-forge
pugixml                   1.11.4               he49afe7_0    conda-forge
py-opencv                 4.5.5            py39h71a6800_4    conda-forge
pybind11                  2.9.2            py39h7248d28_1    conda-forge
pybind11-abi              4                    hd8ed1ab_3    conda-forge
pybind11-global           2.9.2            py39h7248d28_1    conda-forge
pycairo                   1.21.0           py39ha25c624_1    conda-forge
pycparser                 2.21               pyhd8ed1ab_0    conda-forge
pycryptodome              3.14.1           py39hcaba3d0_1    conda-forge
pycryptodomex             3.14.1           py39h63b48b0_1    conda-forge
pydot                     1.4.2            py39h6e9494a_1    conda-forge
pynacl                    1.5.0            py39h63b48b0_1    conda-forge
pyopengl                  3.1.6              pyhd8ed1ab_1    conda-forge
pyparsing                 3.0.9              pyhd8ed1ab_0    conda-forge
pyqt                      5.15.4           py39h2cdf049_2    robostack-experimental
pyqt-builder              1.12.2             pyhd8ed1ab_3    conda-forge
pyqt5-sip                 12.9.0           py39h66f9765_1    robostack-experimental
python                    3.9.12          h8b4d769_1_cpython    conda-forge
python-dateutil           2.8.2              pyhd8ed1ab_0    conda-forge
python-gnupg              0.4.8              pyhd8ed1ab_0    conda-forge
python-orocos-kdl         1.5.1            py39h9fcab8e_2    conda-forge
python_abi                3.9                      2_cp39    conda-forge
pyyaml                    6.0              py39h63b48b0_4    conda-forge
qt-main                   5.15.2               hcd8bfff_3    conda-forge
qwt                       6.2.0                hdd2b5dc_2    conda-forge
readline                  8.1                  h05e3726_0    conda-forge
rhash                     1.4.1                h0d85af4_0    conda-forge
ros-distro-mutex          0.3.0                    noetic    robostack
ros-noetic-actionlib      1.13.2          py39h6bb9c58_15    robostack
ros-noetic-actionlib-msgs 1.13.1          py39heb88ffd_15    robostack
ros-noetic-actionlib-tutorials 0.2.0           py39heb88ffd_15    robostack
ros-noetic-angles         1.9.13          py39heb88ffd_15    robostack
ros-noetic-bond           1.8.6           py39heb88ffd_15    robostack
ros-noetic-bond-core      1.8.6           py39heb88ffd_15    robostack
ros-noetic-bondcpp        1.8.6           py39h6bb9c58_16    robostack
ros-noetic-bondpy         1.8.6           py39h9c51076_15    robostack
ros-noetic-catkin         0.8.10          py39heb88ffd_16    robostack
ros-noetic-class-loader   0.5.0           py39h49dae71_15    robostack
ros-noetic-cmake-modules  0.5.0           py39heb88ffd_16    robostack
ros-noetic-common-msgs    1.13.1          py39heb88ffd_15    robostack
ros-noetic-common-tutorials 0.2.0           py39heb88ffd_15    robostack
ros-noetic-control-msgs   1.5.2           py39heb88ffd_15    robostack
ros-noetic-control-toolbox 1.18.2          py39heb88ffd_15    robostack
ros-noetic-controller-interface 0.19.5          py39heb88ffd_15    robostack
ros-noetic-controller-manager 0.19.5          py39heb88ffd_15    robostack
ros-noetic-controller-manager-msgs 0.19.5          py39heb88ffd_15    robostack
ros-noetic-cpp-common     0.7.2           py39h5c5b868_15    robostack
ros-noetic-cv-bridge      1.16.0          py39h183bc10_15    robostack
ros-noetic-desktop        1.5.0           py39heb88ffd_15    robostack
ros-noetic-diagnostic-aggregator 1.11.0          py39heb88ffd_15    robostack
ros-noetic-diagnostic-analysis 1.11.0          py39heb88ffd_15    robostack
ros-noetic-diagnostic-common-diagnostics 1.11.0          py39heb88ffd_15    robostack
ros-noetic-diagnostic-msgs 1.13.1          py39heb88ffd_15    robostack
ros-noetic-diagnostic-updater 1.11.0          py39heb88ffd_15    robostack
ros-noetic-diagnostics    1.11.0          py39heb88ffd_15    robostack
ros-noetic-dynamic-reconfigure 1.7.2           py39h6bb9c58_16    robostack
ros-noetic-effort-controllers 0.19.0          py39heb88ffd_16    robostack
ros-noetic-eigen-conversions 1.13.2          py39heb88ffd_15    robostack
ros-noetic-executive-smach 2.5.0           py39heb88ffd_15    robostack
ros-noetic-filters        1.9.1           py39h6bb9c58_15    robostack
ros-noetic-forward-command-controller 0.19.0          py39heb88ffd_15    robostack
ros-noetic-gazebo-dev     2.9.2           py39h8b37c5d_15    robostack
ros-noetic-gazebo-msgs    2.9.2           py39heb88ffd_15    robostack
ros-noetic-gazebo-ros     2.9.2           py39hb40b2e6_15    robostack
ros-noetic-gazebo-ros-control 2.9.2           py39hb40b2e6_15    robostack
ros-noetic-gencpp         0.6.5           py39h9c51076_15    robostack
ros-noetic-geneus         3.0.0           py39h9c51076_15    robostack
ros-noetic-genlisp        0.4.18          py39h9c51076_15    robostack
ros-noetic-genmsg         0.5.16          py39heb88ffd_15    robostack
ros-noetic-gennodejs      2.0.2           py39h9c51076_15    robostack
ros-noetic-genpy          0.6.15          py39h4655adb_15    robostack
ros-noetic-geometry       1.13.2          py39heb88ffd_15    robostack
ros-noetic-geometry-msgs  1.13.1          py39heb88ffd_15    robostack
ros-noetic-geometry-tutorials 0.2.3           py39heb88ffd_15    robostack
ros-noetic-gl-dependency  1.1.2           py39heb88ffd_15    robostack
ros-noetic-hardware-interface 0.19.5          py39heb88ffd_15    robostack
ros-noetic-image-transport 1.12.0          py39heb88ffd_15    robostack
ros-noetic-interactive-marker-tutorials 0.11.0          py39heb88ffd_15    robostack
ros-noetic-interactive-markers 1.12.0          py39heb88ffd_15    robostack
ros-noetic-joint-limits-interface 0.19.5          py39heb88ffd_15    robostack
ros-noetic-joint-state-controller 0.19.0          py39heb88ffd_15    robostack
ros-noetic-joint-state-publisher 1.15.0          py39heb88ffd_15    robostack
ros-noetic-joint-state-publisher-gui 1.15.0          py39heb88ffd_15    robostack
ros-noetic-kdl-conversions 1.13.2          py39heb88ffd_15    robostack
ros-noetic-kdl-parser     1.14.1          py39hf052c5f_15    robostack
ros-noetic-laser-geometry 1.6.7           py39h6c24707_15    robostack
ros-noetic-librviz-tutorial 0.11.0          py39heb88ffd_15    robostack
ros-noetic-map-msgs       1.14.1          py39heb88ffd_15    robostack
ros-noetic-media-export   0.3.0           py39heb88ffd_15    robostack
ros-noetic-message-filters 1.15.14         py39h6bb9c58_15    robostack
ros-noetic-message-generation 0.4.1           py39heb88ffd_15    robostack
ros-noetic-message-runtime 0.4.13          py39heb88ffd_15    robostack
ros-noetic-mk             1.15.8          py39heb88ffd_15    robostack
ros-noetic-nav-msgs       1.13.1          py39heb88ffd_15    robostack
ros-noetic-nodelet        1.10.2          py39h6c24707_16    robostack
ros-noetic-nodelet-core   1.10.2          py39heb88ffd_15    robostack
ros-noetic-nodelet-topic-tools 1.10.2          py39h6c24707_15    robostack
ros-noetic-nodelet-tutorial-math 0.2.0           py39heb88ffd_15    robostack
ros-noetic-pluginlib      1.13.0          py39h9b987dc_15    robostack
ros-noetic-pluginlib-tutorials 0.2.0           py39heb88ffd_15    robostack
ros-noetic-position-controllers 0.19.0          py39heb88ffd_15    robostack
ros-noetic-python-qt-binding 0.4.4           py39heb88ffd_16    robostack
ros-noetic-qt-dotgraph    0.4.2           py39h9c51076_15    robostack
ros-noetic-qt-gui         0.4.2           py39heb88ffd_16    robostack
ros-noetic-qt-gui-cpp     0.4.2           py39heb88ffd_16    robostack
ros-noetic-qt-gui-py-common 0.4.2           py39h9c51076_15    robostack
ros-noetic-qwt-dependency 1.1.1           py39heb88ffd_15    robostack
ros-noetic-realtime-tools 1.16.1          py39heb88ffd_15    robostack
ros-noetic-resource-retriever 1.12.7          py39heeddd65_15    robostack
ros-noetic-robot          1.5.0           py39heb88ffd_15    robostack
ros-noetic-robot-state-publisher 1.15.2          py39heb88ffd_15    robostack
ros-noetic-ros            1.15.8          py39heb88ffd_15    robostack
ros-noetic-ros-base       1.5.0           py39heb88ffd_15    robostack
ros-noetic-ros-comm       1.15.14         py39heb88ffd_15    robostack
ros-noetic-ros-core       1.5.0           py39heb88ffd_15    robostack
ros-noetic-ros-environment 1.3.2           py39heb88ffd_15    robostack
ros-noetic-ros-tutorials  0.10.2          py39heb88ffd_15    robostack
ros-noetic-rosbag         1.15.14         py39h6bb9c58_15    robostack
ros-noetic-rosbag-migration-rule 1.0.1           py39heb88ffd_15    robostack
ros-noetic-rosbag-storage 1.15.14         py39h8f5a525_15    robostack
ros-noetic-rosbash        1.15.8          py39heb88ffd_15    robostack
ros-noetic-rosboost-cfg   1.15.8          py39heb88ffd_15    robostack
ros-noetic-rosbuild       1.15.8          py39heb88ffd_15    robostack
ros-noetic-rosclean       1.15.8          py39h9c51076_15    robostack
ros-noetic-rosconsole     1.14.3          py39h00d48e5_15    robostack
ros-noetic-rosconsole-bridge 0.5.4           py39h0cf649e_15    robostack
ros-noetic-roscpp         1.15.14         py39h6bb9c58_15    robostack
ros-noetic-roscpp-core    0.7.2           py39heb88ffd_15    robostack
ros-noetic-roscpp-serialization 0.7.2           py39heb88ffd_15    robostack
ros-noetic-roscpp-traits  0.7.2           py39heb88ffd_15    robostack
ros-noetic-roscpp-tutorials 0.10.2          py39h6bb9c58_15    robostack
ros-noetic-roscreate      1.15.8          py39h9c51076_15    robostack
ros-noetic-rosgraph       1.15.14         py39heb88ffd_15    robostack
ros-noetic-rosgraph-msgs  1.11.3          py39heb88ffd_15    robostack
ros-noetic-roslang        1.15.8          py39heb88ffd_15    robostack
ros-noetic-roslaunch      1.15.14         py39heb88ffd_15    robostack
ros-noetic-roslib         1.15.8          py39h9cfc872_15    robostack
ros-noetic-roslint        0.12.0          py39heb88ffd_15    robostack
ros-noetic-roslisp        1.9.24          py39heb88ffd_15    robostack
ros-noetic-roslz4         1.15.14         py39heb88ffd_15    robostack
ros-noetic-rosmake        1.15.8          py39heb88ffd_15    robostack
ros-noetic-rosmaster      1.15.14         py39heb88ffd_15    robostack
ros-noetic-rosmsg         1.15.14         py39heb88ffd_15    robostack
ros-noetic-rosnode        1.15.14         py39heb88ffd_15    robostack
ros-noetic-rosout         1.15.14         py39heb88ffd_15    robostack
ros-noetic-rospack        2.6.2           py39h9b987dc_15    robostack
ros-noetic-rosparam       1.15.14         py39heb88ffd_15    robostack
ros-noetic-rospy          1.15.14         py39heb88ffd_15    robostack
ros-noetic-rospy-tutorials 0.10.2          py39heb88ffd_15    robostack
ros-noetic-rosservice     1.15.14         py39heb88ffd_15    robostack
ros-noetic-rostest        1.15.14         py39h6bb9c58_15    robostack
ros-noetic-rostime        0.7.2           py39h6bb9c58_15    robostack
ros-noetic-rostopic       1.15.14         py39heb88ffd_15    robostack
ros-noetic-rosunit        1.15.8          py39h9c51076_15    robostack
ros-noetic-roswtf         1.15.14         py39heb88ffd_15    robostack
ros-noetic-rqt-action     0.4.9           py39heb88ffd_15    robostack
ros-noetic-rqt-bag        0.5.1           py39heb88ffd_15    robostack
ros-noetic-rqt-bag-plugins 0.5.1           py39heb88ffd_15    robostack
ros-noetic-rqt-common-plugins 0.4.9           py39heb88ffd_15    robostack
ros-noetic-rqt-console    0.4.11          py39heb88ffd_15    robostack
ros-noetic-rqt-dep        0.4.12          py39heb88ffd_15    robostack
ros-noetic-rqt-graph      0.4.14          py39heb88ffd_15    robostack
ros-noetic-rqt-gui        0.5.3           py39heb88ffd_16    robostack
ros-noetic-rqt-gui-cpp    0.5.3           py39heb88ffd_16    robostack
ros-noetic-rqt-gui-py     0.5.3           py39heb88ffd_16    robostack
ros-noetic-rqt-image-view 0.4.16          py39heb88ffd_15    robostack
ros-noetic-rqt-launch     0.4.9           py39heb88ffd_15    robostack
ros-noetic-rqt-logger-level 0.4.11          py39heb88ffd_15    robostack
ros-noetic-rqt-moveit     0.5.10          py39h9c51076_15    robostack
ros-noetic-rqt-msg        0.4.10          py39heb88ffd_15    robostack
ros-noetic-rqt-nav-view   0.5.7           py39heb88ffd_15    robostack
ros-noetic-rqt-plot       0.4.13          py39heb88ffd_15    robostack
ros-noetic-rqt-pose-view  0.5.11          py39heb88ffd_15    robostack
ros-noetic-rqt-publisher  0.4.10          py39heb88ffd_15    robostack
ros-noetic-rqt-py-common  0.5.2           py39heb88ffd_15    robostack
ros-noetic-rqt-py-console 0.4.10          py39heb88ffd_15    robostack
ros-noetic-rqt-reconfigure 0.5.4           py39h9c51076_15    robostack
ros-noetic-rqt-robot-dashboard 0.5.8           py39heb88ffd_15    robostack
ros-noetic-rqt-robot-monitor 0.5.13          py39h9c51076_15    robostack
ros-noetic-rqt-robot-plugins 0.5.8           py39heb88ffd_15    robostack
ros-noetic-rqt-robot-steering 0.5.12          py39heb88ffd_15    robostack
ros-noetic-rqt-runtime-monitor 0.5.9           py39heb88ffd_15    robostack
ros-noetic-rqt-rviz       0.7.0           py39h5144b77_15    robostack
ros-noetic-rqt-service-caller 0.4.10          py39heb88ffd_15    robostack
ros-noetic-rqt-shell      0.4.11          py39heb88ffd_15    robostack
ros-noetic-rqt-srv        0.4.9           py39heb88ffd_15    robostack
ros-noetic-rqt-tf-tree    0.6.2           py39heb88ffd_15    robostack
ros-noetic-rqt-top        0.4.10          py39heb88ffd_15    robostack
ros-noetic-rqt-topic      0.4.13          py39heb88ffd_15    robostack
ros-noetic-rqt-web        0.4.10          py39heb88ffd_15    robostack
ros-noetic-rviz           1.14.14         py39h66a3644_16    robostack
ros-noetic-rviz-plugin-tutorials 0.11.0          py39heb88ffd_15    robostack
ros-noetic-rviz-python-tutorial 0.11.0          py39heb88ffd_15    robostack
ros-noetic-self-test      1.11.0          py39heb88ffd_15    robostack
ros-noetic-sensor-msgs    1.13.1          py39h9c51076_15    robostack
ros-noetic-shape-msgs     1.13.1          py39heb88ffd_15    robostack
ros-noetic-smach          2.5.0           py39heb88ffd_15    robostack
ros-noetic-smach-msgs     2.5.0           py39heb88ffd_15    robostack
ros-noetic-smach-ros      2.5.0           py39heb88ffd_15    robostack
ros-noetic-smclib         1.8.6           py39heb88ffd_15    robostack
ros-noetic-std-msgs       0.5.13          py39heb88ffd_15    robostack
ros-noetic-std-srvs       1.11.3          py39heb88ffd_15    robostack
ros-noetic-stereo-msgs    1.13.1          py39heb88ffd_15    robostack
ros-noetic-tf             1.13.2          py39hdd16c01_15    robostack
ros-noetic-tf-conversions 1.13.2          py39heb88ffd_15    robostack
ros-noetic-tf2            0.7.5           py39h0cf649e_15    robostack
ros-noetic-tf2-geometry-msgs 0.7.5           py39heb88ffd_15    robostack
ros-noetic-tf2-kdl        0.7.5           py39heb88ffd_15    robostack
ros-noetic-tf2-msgs       0.7.5           py39heb88ffd_15    robostack
ros-noetic-tf2-py         0.7.5           py39heb88ffd_15    robostack
ros-noetic-tf2-ros        0.7.5           py39heb88ffd_15    robostack
ros-noetic-topic-tools    1.15.14         py39heb88ffd_15    robostack
ros-noetic-trajectory-msgs 1.13.1          py39heb88ffd_15    robostack
ros-noetic-transmission-interface 0.19.5          py39heb88ffd_15    robostack
ros-noetic-turtle-actionlib 0.2.0           py39heb88ffd_15    robostack
ros-noetic-turtle-tf      0.2.3           py39heb88ffd_15    robostack
ros-noetic-turtle-tf2     0.2.3           py39heb88ffd_15    robostack
ros-noetic-turtlesim      0.10.2          py39h58e8bba_15    robostack
ros-noetic-urdf           1.13.2          py39hf052c5f_15    robostack
ros-noetic-urdf-parser-plugin 1.13.2          py39heb88ffd_15    robostack
ros-noetic-urdf-tutorial  0.5.0           py39heb88ffd_15    robostack
ros-noetic-velocity-controllers 0.19.0          py39heb88ffd_16    robostack
ros-noetic-velodyne-description 1.0.12          py39heb88ffd_16    robostack
ros-noetic-velodyne-gazebo-plugins 1.0.12          py39heb88ffd_16    robostack
ros-noetic-visualization-marker-tutorials 0.11.0          py39heb88ffd_15    robostack
ros-noetic-visualization-msgs 1.13.1          py39heb88ffd_15    robostack
ros-noetic-visualization-tutorials 0.11.0          py39heb88ffd_15    robostack
ros-noetic-viz            1.5.0           py39heb88ffd_15    robostack
ros-noetic-webkit-dependency 1.1.2           py39heb88ffd_15    robostack
ros-noetic-xacro          1.14.11         py39heb88ffd_15    robostack
ros-noetic-xmlrpcpp       1.15.14         py39h6bb9c58_15    robostack
rosdep                    0.21.0             pyhd8ed1ab_1    conda-forge
rosdistro                 0.8.3            py39h6e9494a_3    conda-forge
rospkg                    1.4.0              pyhd8ed1ab_0    conda-forge
ruby                      3.1.2                h586acb3_0    conda-forge
sbcl                      1.2.11               h694c41f_1    conda-forge
sdl2                      2.0.22               hb486fe8_0    conda-forge
setuptools                62.2.0           py39h6e9494a_0    conda-forge
simbody                   3.7                  h43072b6_3    conda-forge
sip                       6.5.1            py39h9fcab8e_2    conda-forge
six                       1.16.0             pyh6c4a22f_0    conda-forge
snappy                    1.1.9                h6e38e02_1    conda-forge
sqlite                    3.38.5               hd9f0692_0    conda-forge
swig                      4.0.2                hce5123c_2    conda-forge
tbb                       2021.5.0             hbb4e6a2_1    conda-forge
tbb-devel                 2021.5.0             hbb4e6a2_1    conda-forge
tiledb                    2.8.3                hf17dc58_1    conda-forge
tinyxml                   2.6.2                h65a07b1_2    conda-forge
tinyxml2                  9.0.0                he49afe7_2    conda-forge
tk                        8.6.12               h5dbffcc_0    conda-forge
toml                      0.10.2             pyhd8ed1ab_0    conda-forge
tzcode                    2022a                h5eb16cf_0    conda-forge
tzdata                    2022a                h191b570_0    conda-forge
unicodedata2              14.0.0           py39h63b48b0_1    conda-forge
unixodbc                  2.3.10               h7b58acd_0    conda-forge
urdfdom                   2.3.5                h940c156_0    conda-forge
urdfdom_headers           1.0.6                hbb4e6a2_2    conda-forge
wheel                     0.37.1             pyhd8ed1ab_0    conda-forge
x264                      1!161.3030           h0d85af4_1    conda-forge
xerces-c                  3.2.3                h6564042_4    conda-forge
xorg-fixesproto           5.0               h0d85af4_1002    conda-forge
xorg-kbproto              1.0.7             h35c211d_1002    conda-forge
xorg-libice               1.0.10               h0d85af4_0    conda-forge
xorg-libsm                1.2.3             h0d85af4_1000    conda-forge
xorg-libx11               1.7.2                h0d85af4_0    conda-forge
xorg-libxau               1.0.9                h35c211d_0    conda-forge
xorg-libxaw               1.0.14               h0d85af4_1    conda-forge
xorg-libxdmcp             1.1.3                h35c211d_0    conda-forge
xorg-libxext              1.3.4                h0d85af4_1    conda-forge
xorg-libxfixes            5.0.3             h0d85af4_1004    conda-forge
xorg-libxmu               1.1.3                h0d85af4_0    conda-forge
xorg-libxpm               3.5.13               h0d85af4_0    conda-forge
xorg-libxrender           0.9.10            h0d85af4_1003    conda-forge
xorg-libxt                1.2.1                h0d85af4_2    conda-forge
xorg-renderproto          0.11.1            h0d85af4_1002    conda-forge
xorg-xextproto            7.3.0             h35c211d_1002    conda-forge
xorg-xproto               7.0.31            h35c211d_1007    conda-forge
xz                        5.2.5                haf1e3a3_1    conda-forge
yaml                      0.2.5                h0d85af4_2    conda-forge
yaml-cpp                  0.6.3                hb1e8313_4    conda-forge
zeromq                    4.3.4                he49afe7_1    conda-forge
zlib                      1.2.11            h6c3fc93_1014    conda-forge
zstd                      1.5.2                h582d3a0_0    conda-forge
zziplib                   0.13.69              h5dbffcc_1    conda-forge

@Tobias-Fischer
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@traversaro - if you have any ideas that would be great. It seems to be that the downstream packages still need to link to tbb directly?

@Tobias-Fischer Tobias-Fischer changed the title Have issues building other peoples projects tbb linking issues in downstream projects (velodyne_gazebo_plugins) Jun 12, 2022
@traversaro
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@traversaro - if you have any ideas that would be great. It seems to be that the downstream packages still need to link to tbb directly?

Yes, basically tbb is not exposed in Gazebo Classic's public headers, so now the downstream packages need to link tbb::tbb . This should not be a problem if the latest version of Gazebo is used and if the ${GAZEBO_LIBRARIES} variable is used, but apparently there is something going on, let's check.

@traversaro
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traversaro commented Jun 13, 2022 •
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The user code seems fine: https://bitbucket.org/DataspeedInc/velodyne_simulator/src/9ab05d74438b693b8aad3c3c87ca438e68844409/velodyne_gazebo_plugins/CMakeLists.txt#lines-32 . What had a problem was instead gazebo 11.10.2, a problem that was fixed by gazebosim/gazebo-classic#3207 that was then released in gazebo 11.11.0 .

In theory a fix is to run mamba install gazebo=11.11 or create a new environment in which you can specify gazebo=11.11. Unfortunatly, I try to create an env with:

mamba create -n robostackenv ros-noetic-desktop python=3.9 -c robostack -c robostack-experimental -c conda-forge --no-channel-priority --override-channels

but this does not work with error:

Looking for: ['ros-noetic-desktop', 'gazebo=11.11']

conda-forge/linux-64                                        Using cache
conda-forge/noarch                                          Using cache
robostack/linux-64                                            No change
robostack/noarch                                              No change
robostack-experimental/linux-64                               No change
robostack-experimental/noarch                                 No change
Encountered problems while solving:
  - package gazebo-11.11.0-h84b5e5b_0 requires libgdal >=3.4.3,<3.5.0a0, but none of the providers can be installed

So I am afraid we need a noetic rebuild to update to Gazebo 11.11 and solve the problem? @Tobias-Fischer @wolfv

@traversaro
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An alternative may be to create a 10.12 branch in gazebo-feedstock and create a 10.12 build with the backport of gazebosim/gazebo-classic#3207 , but I am not sure if we are able to get correctly all the old dependencies, because not all of them are tracked in conda-forge-pinnings.

@Tobias-Fischer
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Yeah agreed we need a rebuild but it's a bit of a pain (not as much as it used to be but still some manual work). If someone else wants to take the lead that'd be great - I won't get around it for quite a few months.

An alternative for this specific issue is to manually add the tbb::tbb linker line in the downstream package.

@traversaro
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An alternative for this specific issue is to manually add the tbb::tbb linker line in the downstream package.

Sure, I forgot that. Note that the exact target name is TBB::tbb, not tbb::tbb (that was exactly my error that was fixed by gazebosim/gazebo-classic#3207).

@tohsin
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tohsin commented Jun 13, 2022

I wish I could help but I have no idea how any of this works😂.
And I doubt its something can just learn without like years of experience😭

@Tobias-Fischer
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In /Users/emma/dev/robotics/ros_projects/catkin_ws/src/vehicle_sim/vehicle/sensor_model/velodyne/velodyne_gazebo_plugins/CMakeLists.txt (or something like that, I probably got the path slightly wrong), find

add_library(gazebo_ros_velodyne_laser src/GazeboRosVelodyneLaser.cpp)
target_link_libraries(gazebo_ros_velodyne_laser
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
  RayPlugin
)

add_library(gazebo_ros_velodyne_gpu_laser src/GazeboRosVelodyneLaser.cpp)
target_link_libraries(gazebo_ros_velodyne_gpu_laser
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
  GpuRayPlugin
)

and replace with

add_library(gazebo_ros_velodyne_laser src/GazeboRosVelodyneLaser.cpp)
target_link_libraries(gazebo_ros_velodyne_laser
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
  TBB::tbb
  RayPlugin
)

add_library(gazebo_ros_velodyne_gpu_laser src/GazeboRosVelodyneLaser.cpp)
target_link_libraries(gazebo_ros_velodyne_gpu_laser
  ${catkin_LIBRARIES}
  ${GAZEBO_LIBRARIES}
  TBB::tbb
  GpuRayPlugin
)

Then run catkin_make again.

@Tobias-Fischer
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Can this be closed @tohsin?

@tohsin
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tohsin commented Sep 17, 2022

yh yh

@tohsin tohsin closed this as completed Sep 17, 2022
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