Windows/Conda and macOS/Homebrew build failed on Stable and Unstable branches

[traversaro]

It seems that the changes in robotology/icub-basic-demos#32 broke the compilation on:

• Windows/Conda
• macOS/Homebrew

Probably this is due to some Gazebo/problem bug, as instead the compilation (with Gazebo enabled) of Windows/vcpkg and macOS/Conda is working fine. Also, the CMake in gazebo-yarp-plugins seems to be working fine instead on those platforms, see https://github.com/robotology/gazebo-yarp-plugins/blob/40ef333672b9cc85cdf50255d229b6bb462237cb/CMakeLists.txt#L49 and https://github.com/robotology/gazebo-yarp-plugins/blob/40ef333672b9cc85cdf50255d229b6bb462237cb/plugins/controlboard/CMakeLists.txt#L42 .

[traversaro]

Example failure (see https://github.com/robotology/robotology-superbuild/actions/runs/772709209):

Windows/Conda

fatal error LNK1181: cannot open input file 'OgreBites.lib

2021-04-22T03:45:33.6354634Z C:\Miniconda\envs\test\Library\include\gazebo-11\gazebo/physics/Link.hh(691,52): warning C4251: 'gazebo::physics::Link::dataPtr': class 'std::unique_ptr<gazebo::physics::LinkPrivate,std::default_delete<gazebo::physics::LinkPrivate>>' needs to have dll-interface to be used by clients of class 'gazebo::physics::Link' [D:\a\robotology-superbuild\robotology-superbuild\build\src\icub-basic-demos\demoRedBall\demoRedBall-world.vcxproj] [D:\a\robotology-superbuild\robotology-superbuild\build\icub-basic-demos.vcxproj]
2021-04-22T03:45:33.6358949Z   C:\Miniconda\envs\test\Library\include\gazebo-11\gazebo/physics/Link.hh(691): message : see declaration of 'std::unique_ptr<gazebo::physics::LinkPrivate,std::default_delete<gazebo::physics::LinkPrivate>>' [D:\a\robotology-superbuild\robotology-superbuild\build\src\icub-basic-demos\demoRedBall\demoRedBall-world.vcxproj]
2021-04-22T03:45:33.6372625Z   C:\Miniconda\envs\test\Library\include\boost/bind.hpp(41): message : The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior. [D:\a\robotology-superbuild\robotology-superbuild\build\src\icub-basic-demos\demoRedBall\demoRedBall-world.vcxproj]
2021-04-22T03:45:37.3270206Z LINK : fatal error LNK1181: cannot open input file 'OgreBites.lib' [D:\a\robotology-superbuild\robotology-superbuild\build\src\icub-basic-demos\demoRedBall\demoRedBall-world.vcxproj] [D:\a\robotology-superbuild\robotology-superbuild\build\icub-basic-demos.vcxproj]
2021-04-22T03:45:37.4146747Z     Building Custom Rule D:/a/robotology-superbuild/robotology-superbuild/src/icub-basic-demos/demoYoga/CMakeLists.txt

macOS/Homebrew

2021-04-22T03:24:34.0531940Z ld: library not found for -lBulletSoftBody

2021-04-22T03:24:34.0092220Z [25/28] Building CXX object demoRedBall/CMakeFiles/demoRedBall-world.dir/src/world.cpp.o
2021-04-22T03:24:34.0194920Z [26/28] Linking CXX shared library lib/libdemoRedBall-world.dylib
2021-04-22T03:24:34.0297450Z FAILED: lib/libdemoRedBall-world.dylib 
2021-04-22T03:24:34.0416000Z : && /Applications/Xcode_12.4.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ -O3 -DNDEBUG -isysroot /Applications/Xcode_12.4.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX11.1.sdk -mmacosx-version-min=10.15 -dynamiclib -Wl,-headerpad_max_install_names  -o lib/libdemoRedBall-world.dylib -install_name @rpath/libdemoRedBall-world.dylib demoRedBall/CMakeFiles/demoRedBall-world.dir/src/world.cpp.o  -Wl,-rpath,/usr/local/lib -Wl,-rpath,/Users/runner/work/robotology-superbuild/robotology-superbuild/build/install/lib  -lBulletSoftBody  -lBulletDynamics  -lBulletCollision  -lLinearMath  /usr/local/lib/libSimTKsimbody.3.7.dylib  /usr/local/lib/libdart.6.9.5.dylib  /usr/local/lib/libgazebo.dylib  /usr/local/lib/libgazebo_client.dylib  /usr/local/lib/libgazebo_gui.dylib  /usr/local/lib/libgazebo_sensors.dylib  /usr/local/lib/libgazebo_rendering.dylib  /usr/local/lib/libgazebo_physics.dylib  /usr/local/lib/libgazebo_ode.dylib  /usr/local/lib/libgazebo_transport.dylib  /usr/local/lib/libgazebo_msgs.dylib  /usr/local/lib/libgazebo_util.dylib  /usr/local/lib/libgazebo_common.dylib  /usr/local/lib/libgazebo_gimpact.dylib  /usr/local/lib/libgazebo_opcode.dylib  /usr/local/lib/libgazebo_opende_ou.dylib  /usr/local/lib/libboost_system-mt.dylib  /usr/local/lib/libboost_filesystem-mt.dylib  /usr/local/lib/libboost_program_options-mt.dylib  /usr/local/lib/libboost_regex-mt.dylib  /usr/local/lib/libboost_iostreams-mt.dylib  /usr/local/lib/libprotobuf.dylib  /usr/local/lib/libsdformat9.9.5.0.dylib  /usr/local/Cellar/ogre1.9/1.9-20160714-108ab0bcc69603dba32c0ffd4bbbc39051f421c9_9/lib/libOgreMain.dylib  /usr/local/lib/libboost_thread-mt.dylib  /usr/local/lib/libboost_date_time-mt.dylib  /usr/local/Cellar/ogre1.9/1.9-20160714-108ab0bcc69603dba32c0ffd4bbbc39051f421c9_9/lib/libOgreTerrain.dylib  /usr/local/Cellar/ogre1.9/1.9-20160714-108ab0bcc69603dba32c0ffd4bbbc39051f421c9_9/lib/libOgrePaging.dylib  /usr/local/lib/libignition-common3-graphics.3.12.0.dylib  /Users/runner/work/robotology-superbuild/robotology-superbuild/build/install/lib/libYARP_init.3.4.3.dylib  /Users/runner/work/robotology-superbuild/robotology-superbuild/build/install/lib/libYARP_dev.3.4.3.dylib  /Users/runner/work/robotology-superbuild/robotology-superbuild/build/install/lib/libYARP_math.3.4.3.dylib  /usr/local/lib/libSimTKmath.3.7.dylib  /usr/local/lib/libSimTKcommon.3.7.dylib  -framework  Accelerate  -ldl  -lm  /usr/local/lib/libdart-external-odelcpsolver.6.9.5.dylib  /usr/local/lib/libccd.2.0.dylib  /Library/Developer/CommandLineTools/SDKs/MacOSX10.15.sdk/usr/lib/libm.tbd  /usr/local/Cellar/fcl/0.6.1/lib/libfcl.dylib  -lassimp.5  /usr/local/lib/liboctomap.1.9.6.dylib  /usr/local/lib/liboctomath.1.9.6.dylib  /usr/local/lib/libignition-transport8.8.2.0.dylib  /usr/local/lib/libignition-fuel_tools4.4.3.0.dylib  /usr/local/lib/libignition-msgs5.5.7.0.dylib  /usr/local/lib/libignition-math6.6.8.0.dylib  /usr/local/lib/libprotobuf.dylib  /usr/local/lib/libignition-common3.3.12.0.dylib  -lpthread  /Users/runner/work/robotology-superbuild/robotology-superbuild/build/install/lib/libYARP_sig.3.4.3.dylib  /Users/runner/work/robotology-superbuild/robotology-superbuild/build/install/lib/libYARP_os.3.4.3.dylib && :
2021-04-22T03:24:34.0531940Z ld: library not found for -lBulletSoftBody
2021-04-22T03:24:34.0634630Z clang: error: linker command failed with exit code 1 (use -v to see invocation)
2021-04-22T03:24:34.0721020Z [27/28] Building CXX object pf3dTracker/CMakeFiles/pf3dTracker.dir/src/pf3dTracker.cpp.o

[traversaro]

I double checked, and indeed the library is built correctly on Windows/vcpkg and macOS/conda, it is not skipped or anything similar.

[traversaro]

Given that in both cases the failure is due to a library not found, it is possible that the problem is a missing link_directories(${GAZEBO_LIBRARY_DIRS}) (see http://gazebosim.org/tutorials/?tut=plugins_hello_world).

[traversaro]

Fixed by robotology/icub-basic-demos#33, see recent CI runs (see https://github.com/robotology/robotology-superbuild/actions/runs/779577429). The macOS/Conda failures are unrelated.