Downstream tbb-related linking problem

[traversaro]

In the past days this was hidden by other CI failures, but I noticed in a downstream CI that linking an actual executable fails with (see https://github.com/robotology/gazebo-yarp-plugins/runs/5193937684?check_suite_focus=true):

2022-02-15T03:04:25.8893539Z [112/116] Linking CXX executable bin/ClockTest
2022-02-15T03:04:25.8894227Z FAILED: bin/ClockTest 
2022-02-15T03:04:25.8915444Z : && /usr/share/miniconda/envs/test/bin/x86_64-conda-linux-gnu-c++ -fvisibility-inlines-hidden -std=c++17 -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /usr/share/miniconda/envs/test/include -O3 -DNDEBUG -Wl,-O2 -Wl,--sort-common -Wl,--as-needed -Wl,-z,relro -Wl,-z,now -Wl,--disable-new-dtags -Wl,--gc-sections -Wl,-rpath,/usr/share/miniconda/envs/test/lib -Wl,-rpath-link,/usr/share/miniconda/envs/test/lib -L/usr/share/miniconda/envs/test/lib tests/CMakeFiles/tiny-process-library.dir/__/_deps/tinyprocesslibrary-src/process.cpp.o tests/CMakeFiles/tiny-process-library.dir/__/_deps/tinyprocesslibrary-src/process_unix.cpp.o tests/clock/CMakeFiles/ClockTest.dir/ClockTest.cc.o -o bin/ClockTest -L/usr/share/miniconda/envs/test/lib/gazebo-11/plugins -Wl,-rpath,/usr/share/miniconda/envs/test/lib/gazebo-11/plugins:/home/runner/work/gazebo-yarp-plugins/gazebo-yarp-plugins/build/lib  -lBulletSoftBody  -lBulletDynamics  -lBulletCollision  -lLinearMath  /usr/share/miniconda/envs/test/lib/libgazebo.so  /usr/share/miniconda/envs/test/lib/libgazebo_client.so  /usr/share/miniconda/envs/test/lib/libgazebo_gui.so  /usr/share/miniconda/envs/test/lib/libgazebo_sensors.so  /usr/share/miniconda/envs/test/lib/libgazebo_rendering.so  /usr/share/miniconda/envs/test/lib/libgazebo_physics.so  /usr/share/miniconda/envs/test/lib/libgazebo_ode.so  /usr/share/miniconda/envs/test/lib/libgazebo_transport.so  /usr/share/miniconda/envs/test/lib/libgazebo_msgs.so  /usr/share/miniconda/envs/test/lib/libgazebo_util.so  /usr/share/miniconda/envs/test/lib/libgazebo_common.so  /usr/share/miniconda/envs/test/lib/libgazebo_gimpact.so  /usr/share/miniconda/envs/test/lib/libgazebo_opcode.so  /usr/share/miniconda/envs/test/lib/libgazebo_opende_ou.so  /usr/share/miniconda/envs/test/lib/libprotobuf.so  -lpthread  -lOgreBites  /usr/share/miniconda/envs/test/lib/libSDL2main.a  /usr/share/miniconda/envs/test/lib/libSDL2.so  -lpthread  -lOgreHLMS  -lOgreMeshLodGenerator  -lOgreOverlay  -lOgrePaging  -lOgreProperty  -lOgreRTShaderSystem  -lOgreTerrain  -lOgreVolume  -lOgreMain  -lOgreTerrain  -lOgrePaging  /usr/share/miniconda/envs/test/lib/libgazebo_test_fixture.a  lib/libgyp-gazebo-classic-gtest.a  /usr/share/miniconda/envs/test/lib/libprotobuf.so  -lpthread  lib/libgazebo_yarp_singleton.so  /usr/share/miniconda/envs/test/lib/libYARP_robotinterface.so.3.6.0  -lBulletSoftBody  -lBulletDynamics  -lBulletCollision  -lLinearMath  /usr/share/miniconda/envs/test/lib/libSimTKsimbody.so.3.7  /usr/share/miniconda/envs/test/lib/libdart.so.6.12.1  /usr/share/miniconda/envs/test/lib/libgazebo.so  /usr/share/miniconda/envs/test/lib/libgazebo_client.so  /usr/share/miniconda/envs/test/lib/libgazebo_gui.so  /usr/share/miniconda/envs/test/lib/libgazebo_sensors.so  /usr/share/miniconda/envs/test/lib/libgazebo_rendering.so  /usr/share/miniconda/envs/test/lib/libgazebo_physics.so  /usr/share/miniconda/envs/test/lib/libgazebo_ode.so  /usr/share/miniconda/envs/test/lib/libgazebo_transport.so  /usr/share/miniconda/envs/test/lib/libgazebo_msgs.so  /usr/share/miniconda/envs/test/lib/libgazebo_util.so  /usr/share/miniconda/envs/test/lib/libgazebo_common.so  /usr/share/miniconda/envs/test/lib/libgazebo_gimpact.so  /usr/share/miniconda/envs/test/lib/libgazebo_opcode.so  /usr/share/miniconda/envs/test/lib/libgazebo_opende_ou.so  /usr/share/miniconda/envs/test/lib/libprotobuf.so  -lpthread  /usr/share/miniconda/envs/test/lib/libsdformat9.so.9.3.0  -lOgreBites  /usr/share/miniconda/envs/test/lib/libSDL2main.a  /usr/share/miniconda/envs/test/lib/libSDL2.so  -lpthread  -lOgreHLMS  -lOgreMeshLodGenerator  -lOgreOverlay  -lOgrePaging  -lOgreProperty  -lOgreRTShaderSystem  -lOgreTerrain  -lOgreVolume  -lOgreMain  -lOgreTerrain  -lOgrePaging  /usr/share/miniconda/envs/test/lib/libignition-common3-graphics.so.3.13.2  /usr/share/miniconda/envs/test/lib/libboost_thread.so.1.74.0  /usr/share/miniconda/envs/test/lib/libboost_system.so.1.74.0  /usr/share/miniconda/envs/test/lib/libboost_filesystem.so.1.74.0  /usr/share/miniconda/envs/test/lib/libboost_program_options.so.1.74.0  /usr/share/miniconda/envs/test/lib/libboost_regex.so.1.74.0  /usr/share/miniconda/envs/test/lib/libboost_iostreams.so.1.74.0  /usr/share/miniconda/envs/test/lib/libboost_date_time.so.1.74.0  /usr/share/miniconda/envs/test/lib/libSimTKmath.so.3.7  /usr/share/miniconda/envs/test/lib/libSimTKcommon.so.3.7  /usr/share/miniconda/envs/test/lib/libblas.so  /usr/share/miniconda/envs/test/lib/liblapack.so  -ldl  /usr/share/miniconda/envs/test/lib/libdart-external-odelcpsolver.so.6.12.1  /usr/share/miniconda/envs/test/lib/libccd.so.2.0  -lm  /usr/share/miniconda/envs/test/lib/libfcl.so  /usr/share/miniconda/envs/test/lib/libassimp.so  /usr/share/miniconda/envs/test/lib/liboctomap.so.1.9.7  /usr/share/miniconda/envs/test/lib/liboctomath.so.1.9.7  /usr/share/miniconda/envs/test/lib/libprotobuf.so  -lOgreBites  /usr/share/miniconda/envs/test/lib/libSDL2main.a  /usr/share/miniconda/envs/test/lib/libSDL2.so  -lOgreHLMS  -lOgreMeshLodGenerator  -lOgreOverlay  -lOgreProperty  -lOgreRTShaderSystem  -lOgreVolume  -lOgreMain  /usr/share/miniconda/envs/test/lib/libignition-transport8.so.8.1.0  /usr/share/miniconda/envs/test/lib/libignition-fuel_tools4.so.4.4.0  /usr/share/miniconda/envs/test/lib/libignition-msgs5.so.5.7.0  /usr/share/miniconda/envs/test/lib/libignition-math6.so.6.10.0  /usr/share/miniconda/envs/test/lib/libprotobuf.so  /usr/share/miniconda/envs/test/lib/libignition-common3.so.3.13.2  -lpthread  -lrt  /usr/share/miniconda/envs/test/lib/libuuid.so  /usr/share/miniconda/envs/test/lib/libuuid.so  /usr/share/miniconda/envs/test/lib/libopencv_gapi.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_stitching.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_alphamat.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_aruco.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_barcode.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_bgsegm.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_bioinspired.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_ccalib.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_cvv.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_dnn_objdetect.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_dnn_superres.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_dpm.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_face.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_freetype.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_fuzzy.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_hdf.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_hfs.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_img_hash.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_intensity_transform.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_line_descriptor.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_mcc.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_quality.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_rapid.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_reg.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_rgbd.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_saliency.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_stereo.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_structured_light.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_phase_unwrapping.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_superres.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_optflow.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_surface_matching.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_tracking.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_highgui.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_datasets.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_plot.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_text.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_videostab.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_videoio.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_wechat_qrcode.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_xfeatures2d.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_ml.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_shape.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_ximgproc.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_video.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_xobjdetect.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_imgcodecs.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_objdetect.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_calib3d.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_dnn.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_features2d.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_flann.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_xphoto.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_photo.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_imgproc.so.4.5.5  /usr/share/miniconda/envs/test/lib/libopencv_core.so.4.5.5  /usr/share/miniconda/envs/test/lib/libYARP_dev.so.3.6.0  /usr/share/miniconda/envs/test/lib/libYARP_math.so.3.6.0  /usr/share/miniconda/envs/test/lib/libYARP_sig.so.3.6.0  /usr/share/miniconda/envs/test/lib/libYARP_init.so.3.6.0  /usr/share/miniconda/envs/test/lib/libYARP_os.so.3.6.0  -lpthread && :
2022-02-15T03:04:25.8929502Z /usr/share/miniconda/envs/test/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: tests/clock/CMakeFiles/ClockTest.dir/ClockTest.cc.o: undefined reference to symbol '_ZN3tbb6detail2r17destroyERNS0_2d118task_group_contextE'
2022-02-15T03:04:25.8930475Z /usr/share/miniconda/envs/test/bin/../lib/gcc/x86_64-conda-linux-gnu/9.4.0/../../../../x86_64-conda-linux-gnu/bin/ld: /usr/share/miniconda/envs/test/lib/libtbb.so.12: error adding symbols: DSO missing from command line
2022-02-15T03:04:25.8930923Z collect2: error: ld returned 1 exit status
2022-02-15T03:04:39.9375043Z [113/116] Building CXX object tests/CMakeFiles/ControlBoardControlTest.dir/ControlBoardControlTest.cc.o
2022-02-15T03:04:41.0978507Z [114/116] Building CXX object tests/robotinterface/CMakeFiles/RobotInterfaceTest.dir/RobotInterfaceTest.cc.o
2022-02-15T03:04:41.0980164Z ninja: build stopped: subcommand failed.
2022-02-15T03:04:41.1011309Z ##[error]Process completed with exit code 1.

[traversaro]

See https://stackoverflow.com/questions/19901934/libpthread-so-0-error-adding-symbols-dso-missing-from-command-line for a background. Basically since #115, downstream projects needs to link tbb as well.

[traversaro]

Fixed by #124 .