[2024.09.04] ndt_scan_matcher fails to build

[esteve]

CMake can't seem to find the OpenMP::OpenMP_CXX target:

2024-09-05T02:58:23.8351351Z CMake Error at /opt/ros/humble/share/ament_cmake_auto/cmake/ament_auto_add_library.cmake:66 (add_library):
2024-09-05T02:58:23.8352566Z   Target "ndt_scan_matcher" links to target "OpenMP::OpenMP_CXX" but the
2024-09-05T02:58:23.8353445Z   target was not found.  Perhaps a find_package() call is missing for an
2024-09-05T02:58:23.8354168Z   IMPORTED target, or an ALIAS target is missing?
2024-09-05T02:58:23.8364491Z Call Stack (most recent call first):
2024-09-05T02:58:23.8365142Z   CMakeLists.txt:28 (ament_auto_add_library)
2024-09-05T02:58:23.8365513Z
2024-09-05T02:58:23.8365522Z
2024-09-05T02:58:23.8374791Z CMake Error at /opt/ros/humble/share/ament_cmake_gtest/cmake/ament_add_gtest_executable.cmake:50 (add_executable):
2024-09-05T02:58:23.8376822Z   Target "standard_sequence_for_initial_pose_estimation" links to target
2024-09-05T02:58:23.8378554Z   "OpenMP::OpenMP_CXX" but the target was not found.  Perhaps a
2024-09-05T02:58:23.8380196Z   find_package() call is missing for an IMPORTED target, or an ALIAS target
2024-09-05T02:58:23.8381522Z   is missing?
2024-09-05T02:58:23.8381864Z Call Stack (most recent call first):
2024-09-05T02:58:23.8382823Z   /opt/ros/humble/share/ament_cmake_gtest/cmake/ament_add_gtest_executable.cmake:37 (_ament_add_gtest_executable)
2024-09-05T02:58:23.8384204Z   /opt/ros/humble/share/ament_cmake_auto/cmake/ament_auto_add_gtest.cmake:71 (ament_add_gtest_executable)
2024-09-05T02:58:23.8385131Z   CMakeLists.txt:50 (ament_auto_add_gtest)
2024-09-05T02:58:23.8385482Z
2024-09-05T02:58:23.8385489Z
2024-09-05T02:58:23.8386159Z CMake Error at /opt/ros/humble/share/ament_cmake_gtest/cmake/ament_add_gtest_executable.cmake:50 (add_executable):
2024-09-05T02:58:23.8387316Z   Target "once_initialize_at_out_of_map_then_initialize_correctly" links to
2024-09-05T02:58:23.8388410Z   target "OpenMP::OpenMP_CXX" but the target was not found.  Perhaps a
2024-09-05T02:58:23.8389365Z   find_package() call is missing for an IMPORTED target, or an ALIAS target
2024-09-05T02:58:23.8390021Z   is missing?
2024-09-05T02:58:23.8390351Z Call Stack (most recent call first):
2024-09-05T02:58:23.8391302Z   /opt/ros/humble/share/ament_cmake_gtest/cmake/ament_add_gtest_executable.cmake:37 (_ament_add_gtest_executable)
2024-09-05T02:58:23.8394487Z   /opt/ros/humble/share/ament_cmake_auto/cmake/ament_auto_add_gtest.cmake:71 (ament_add_gtest_executable)
2024-09-05T02:58:23.8395420Z   CMakeLists.txt:53 (ament_auto_add_gtest)

[esteve]

Adding find_package(OpenMP) to the ndt_scan_matcher CMakeLists.txt file fixes this specific issue, however then the following issue breaks the build:

[ 50%] Built target gtest_main
In file included from /<<BUILDDIR>>package/include/ndt_scan_matcher/map_update_module.hpp:20,
                 from /<<BUILDDIR>>package/src/map_update_module.cpp:15:
/<<BUILDDIR>>package/include/ndt_scan_matcher/hyper_parameters.hpp:20:10: fatal error: multigrid_pclomp/multigrid_ndt_omp.h: No such file or directory
   20 | #include <multigrid_pclomp/multigrid_ndt_omp.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[4]: *** [CMakeFiles/ndt_scan_matcher.dir/build.make:79: CMakeFiles/ndt_scan_matcher.dir/src/map_update_module.cpp.o] Error 1
make[4]: *** Waiting for unfinished jobs....
In file included from /<<BUILDDIR>>package/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp:22,
                 from /<<BUILDDIR>>package/src/ndt_scan_matcher_core.cpp:15:
/<<BUILDDIR>>package/include/ndt_scan_matcher/hyper_parameters.hpp:20:10: fatal error: multigrid_pclomp/multigrid_ndt_omp.h: No such file or directory
   20 | #include <multigrid_pclomp/multigrid_ndt_omp.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[4]: *** [CMakeFiles/ndt_scan_matcher.dir/build.make:93: CMakeFiles/ndt_scan_matcher.dir/src/ndt_scan_matcher_core.cpp.o] Error 1
[ 57%] Linking CXX executable ndt_scan_matcher_node
/usr/bin/cmake -E cmake_link_script CMakeFiles/ndt_scan_matcher_node.dir/link.txt --verbose=1
/usr/lib/ccache/c++ -g -O2 -ffile-prefix-map=/<<BUILDDIR>>package=. -flto=auto -ffat-lto-objects -flto=auto -ffat-lto-objects -fstack-protector-strong -Wformat -Werror=format-security -DNDEBUG -Wdate-time -D_FORTIFY_SOURCE=2 CMakeFiles/ndt_scan_matcher_node.dir/rclcpp_components/node_main_ndt_scan_matcher_node.cpp.o -o ndt_scan_matcher_node  -Wl,-rpath,/opt/ros/humble/lib: /opt/ros/humble/lib/libcomponent_manager.so /opt/ros/humble/lib/librclcpp.so /opt/ros/humble/lib/liblibstatistics_collector.so /opt/ros/humble/lib/librcl.so /opt/ros/humble/lib/librmw_implementation.so /opt/ros/humble/lib/librcl_logging_spdlog.so /opt/ros/humble/lib/librcl_logging_interface.so /opt/ros/humble/lib/librcl_yaml_param_parser.so /opt/ros/humble/lib/libyaml.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_generator_py.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/librosgraph_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_generator_py.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_typesupport_c.so /opt/ros/humble/lib/libstatistics_msgs__rosidl_generator_c.so /opt/ros/humble/lib/libtracetools.so /opt/ros/humble/lib/libclass_loader.so /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.1.0 /opt/ros/humble/lib/libament_index_cpp.so /opt/ros/humble/lib/libcomposition_interfaces__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/librosidl_typesupport_fastrtps_c.so /opt/ros/humble/lib/libcomposition_interfaces__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libcomposition_interfaces__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/librosidl_typesupport_fastrtps_cpp.so /opt/ros/humble/lib/librmw.so /opt/ros/humble/lib/libfastcdr.so.1.0.24 /opt/ros/humble/lib/libcomposition_interfaces__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/librosidl_typesupport_introspection_cpp.so /opt/ros/humble/lib/librosidl_typesupport_introspection_c.so /opt/ros/humble/lib/libcomposition_interfaces__rosidl_typesupport_cpp.so /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_cpp.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_typesupport_cpp.so /opt/ros/humble/lib/librosidl_typesupport_cpp.so /opt/ros/humble/lib/libcomposition_interfaces__rosidl_generator_py.so /opt/ros/humble/lib/librcl_interfaces__rosidl_generator_py.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_generator_py.so /opt/ros/humble/lib/libcomposition_interfaces__rosidl_typesupport_c.so /opt/ros/humble/lib/librcl_interfaces__rosidl_typesupport_c.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_typesupport_c.so /opt/ros/humble/lib/libcomposition_interfaces__rosidl_generator_c.so /opt/ros/humble/lib/librcl_interfaces__rosidl_generator_c.so /opt/ros/humble/lib/libbuiltin_interfaces__rosidl_generator_c.so /opt/ros/humble/lib/librosidl_typesupport_c.so /opt/ros/humble/lib/librcpputils.so /opt/ros/humble/lib/librosidl_runtime_c.so /opt/ros/humble/lib/librcutils.so -ldl /usr/lib/x86_64-linux-gnu/libpython3.10.so
make[4]: Leaving directory '/<<BUILDDIR>>package/obj-x86_64-linux-gnu'
[ 57%] Built target ndt_scan_matcher_node
make[4]: Leaving directory '/<<BUILDDIR>>package/obj-x86_64-linux-gnu'
make[3]: *** [CMakeFiles/Makefile2:164: CMakeFiles/ndt_scan_matcher.dir/all] Error 2
make[3]: *** Waiting for unfinished jobs....
[ 64%] Linking CXX static library libgtest.a
cd /<<BUILDDIR>>package/obj-x86_64-linux-gnu/gtest && /usr/bin/cmake -P CMakeFiles/gtest.dir/cmake_clean_target.cmake
cd /<<BUILDDIR>>package/obj-x86_64-linux-gnu/gtest && /usr/bin/cmake -E cmake_link_script CMakeFiles/gtest.dir/link.txt --verbose=1
/usr/bin/ar qc libgtest.a CMakeFiles/gtest.dir/src/gtest-all.cc.o
/usr/bin/ranlib libgtest.a
make[4]: Leaving directory '/<<BUILDDIR>>package/obj-x86_64-linux-gnu'
[ 64%] Built target gtest
make[3]: Leaving directory '/<<BUILDDIR>>package/obj-x86_64-linux-gnu'
make[2]: *** [Makefile:149: all] Error 2
make[2]: Leaving directory '/<<BUILDDIR>>package/obj-x86_64-linux-gnu'
dh_auto_build: error: cd obj-x86_64-linux-gnu && make -j16 "INSTALL=install --strip-program=true" VERBOSE=1 returned exit code 2
make[1]: *** [debian/rules:38: override_dh_auto_build] Error 25
make[1]: Leaving directory '/<<BUILDDIR>>package'
make: *** [debian/rules:22: build] Error 2
dpkg-buildpackage: error: debian/rules build subprocess returned exit status 2

[esteve]

The root cause for this issue is that the ndt_omp package in Autoware was forked from https://github.com/koide3/ndt_omp, which exists in the ROS package index (see https://index.ros.org/p/ndt_omp/github-koide3-ndt_omp/#humble), but hasn't been renamed to include the autoware_ prefix yet. Therefore, when our build farm installs the dependencies for ndt_scan_matcher, rosdep installs the version of ndt_omp from the ROS repositories, instead of the version that was built by locally.

[esteve]

@SakodaShintaro @YamatoAndo please enable the issues tab for https://github.com/tier4/ndt_omp so I can track this issue there. Thanks.

[SakodaShintaro]

I'm sorry, I couldn't find that setting. It might be because I don't have the necessary permissions.

@YamatoAndo
Could you change the setting?

[YamatoAndo]

@esteve Hi, I have enabled the issues tab. Thank you.