我创建了这个 GitHub repository，其中包含 OpenSUSE 15.4 docker 文件，我试图在其中集成 OpenSUSE 的 Drake 模拟。我尝试在 Docker 映像中运行 Drake 存储库中的以下构建步骤：
dan@d10fea7706bb:~/drake/cmake> cmake ..dan@d10fea7706bb:~/drake/cmake> make install我得到以下涉及 spdlog 和 fmt 的非常长的错误回溯：
https://gist.github.com/hedaniel7/9b74a2b2c6a6ec625e94ab85cc0f395d
这是一个小样本：
ERROR: /home/dan/drake/common/BUILD.bazel:307:17: Compiling common/find_resource.cc failed: (Exit 1): gcc-10 failed: error executing command (from target //common:_find_resource_compiled_cc_impl) /usr/bin/gcc-10 -U_FORTIFY_SOURCE -fstack-protector -Wall -Wunused-but-set-parameter -Wno-free-nonheap-object -fno-omit-frame-pointer -g0 -O2 '-D_FORTIFY_SOURCE=1' -DNDEBUG -ffunction-sections ... (remaining 71 arguments skipped)
Use --sandbox_debug to see verbose messages from the sandbox and retain the sandbox build root for debugging
In file included from external/fmt/include/_usr_local_include/spdlog/fmt/fmt.h:28,
from external/fmt/include/_usr_local_include/spdlog/common.h:50,
from external/fmt/include/_usr_local_include/spdlog/spdlog.h:12,
from bazel-out/k8-opt/bin/common/_virtual_includes/essential/drake/common/text_logging.h:85,
from common/find_resource.cc:17:
external/fmt/include/_usr_local_include/spdlog/fmt/bundled/core.h:308:30: error: redefinition of 'struct fmt::v10::type_identity<T>'
308 | template <typename T> struct type_identity { using type = T; };
| ^~~~~~~~~~~~~
In file included from external/fmt/include/_usr_local_include/fmt/format.h:54,
from common/find_resource.cc:10:
external/fmt/include/_usr_local_include/fmt/base.h:301:30: note: previous definition of 'struct fmt::v10::type_identity<T>'
301 | template <typename T> struct type_identity {
| ^~~~~~~~~~~~~
In file included from external/fmt/include/_usr_local_include/spdlog/fmt/fmt.h:28,
from external/fmt/include/_usr_local_include/spdlog/common.h:50,
from external/fmt/include/_usr_local_include/spdlog/spdlog.h:12,
from bazel-out/k8-opt/bin/common/_virtual_includes/essential/drake/common/text_logging.h:85,
from common/find_resource.cc:17:
external/fmt/include/_usr_local_include/spdlog/fmt/bundled/core.h:325:8: error: redefinition of 'struct fmt::v10::monostate'
问题可能与警告有关
DEBUG: /home/dan/drake/tools/workspace/pkg_config.bzl:240:18: pkg-config of fmt returned an include path that contains /usr/local/include that may contain unrelated headers
DEBUG: /home/dan/drake/tools/workspace/pkg_config.bzl:240:18: pkg-config of fmt returned an include path that contains /usr/local/include that may contain unrelated headers
DEBUG: /home/dan/drake/tools/workspace/pkg_config.bzl:240:18: pkg-config of spdlog returned an include path that contains /usr/local/include that may contain unrelated headers
我在上面的终端交互要点中得到了
这是我使用的 Dockerfile（也可以在 GitHub 存储库中查看）
# Use OpenSUSE Leap 15.4 as base
FROM opensuse/leap:15.4
# Install vim, sudo, and other necessary tools and libraries for drake
RUN zypper --non-interactive update && \
zypper --non-interactive install -y vim sudo git cmake make java-1_8_0-openjdk-devel \
glib2-devel lapack-devel libX11-devel ocl-icd-devel opencl-headers patch patchelf \
pkg-config python3-devel python3-pygame zlib-devel pkg-config eigen3-devel \
libmumps5 mumps-devel gcc-fortran nasm wget llvm-clang llvm-clang-devel
# Add the repository for GCC 10
RUN zypper addrepo -f http://download.opensuse.org/repositories/devel:/gcc/openSUSE_Leap_15.4/ devel_gcc && \
zypper --non-interactive --gpg-auto-import-keys refresh && \
zypper --non-interactive install -y gcc10 gcc10-c++
# Set GCC 10 as the default compiler
RUN update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-10 100 --slave /usr/bin/g++ g++ /usr/bin/g++-10 && \
update-alternatives --install /usr/bin/cc cc /usr/bin/gcc 30 && \
update-alternatives --set cc /usr/bin/gcc && \
update-alternatives --install /usr/bin/c++ c++ /usr/bin/g++ 30 && \
update-alternatives --set c++ /usr/bin/g++
# Clone, build, and install fmt and spdlog from source
RUN cd /tmp && \
git clone https://github.com/fmtlib/fmt.git && \
cd fmt && mkdir build && cd build && cmake .. && make install && \
cd /tmp && \
git clone https://github.com/gabime/spdlog.git && \
cd spdlog && mkdir build && cd build && cmake .. && make install
# Install Bazelisk
RUN curl -L https://github.com/bazelbuild/bazelisk/releases/download/v1.7.5/bazelisk-linux-amd64 > /usr/local/bin/bazelisk && \
chmod +x /usr/local/bin/bazelisk && \
ln -s /usr/local/bin/bazelisk /usr/local/bin/bazel
# Download and place jchart2d-3.3.2.jar in /usr/share/java/jchart2d.jar
RUN wget https://repo1.maven.org/maven2/net/sf/jchart2d/jchart2d/3.3.2/jchart2d-3.3.2.jar -O /usr/share/java/jchart2d.jar
# Create .pc files for LAPACK and BLAS
RUN echo -e "prefix=/usr\nexec_prefix=\${prefix}\nlibdir=\${exec_prefix}/lib64\nincludedir=\${prefix}/include\n\nName: LAPACK\nDescription: Linear Algebra Package\nVersion: 3.9.0\nLibs: -L\${libdir} -llapack\nCflags: -I\${includedir}" > /usr/share/pkgconfig/lapack.pc && \
echo -e "prefix=/usr\nexec_prefix=\${prefix}\nlibdir=\${exec_prefix}/lib64\nincludedir=\${prefix}/include\n\nName: BLAS\nDescription: Basic Linear Algebra Subprograms\nVersion: 3.9.0\nLibs: -L\${libdir} -lblas\nCflags: -I\${includedir}" > /usr/share/pkgconfig/blas.pc
# Set up the environment for user 'dan'
RUN groupadd -r dan && \
useradd -m -s /bin/bash -r -g dan dan && \
mkdir -p /home/dan/drake && \
chown -R dan:dan /home/dan/drake && \
echo "dan ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
# Switch to user 'dan' before installing pyenv and Python
USER dan
ENV HOME /home/dan
WORKDIR $HOME
# Install dependencies for pyenv and Python build
RUN sudo zypper --non-interactive install -y git gcc make zlib-devel libbz2-devel libopenssl-devel readline-devel sqlite3-devel tar gzip
# Install pyenv and Python 3.10
RUN git clone https://github.com/pyenv/pyenv.git $HOME/.pyenv && \
echo 'export PYENV_ROOT="$HOME/.pyenv"' >> $HOME/.bashrc && \
echo 'export PATH="$PYENV_ROOT/bin:$PATH"' >> $HOME/.bashrc && \
echo -e 'if command -v pyenv 1>/dev/null 2>&1; then\n eval "$(pyenv init --path)"\nfi' >> $HOME/.bashrc && \
/bin/bash -c "source $HOME/.bashrc && pyenv install 3.10.0 && pyenv global 3.10.0"
# Ensure the selected Python version 3.10 is used and install PyYAML
RUN /bin/bash -c "source $HOME/.bashrc && pyenv rehash && pip install PyYAML"
# Set environment variables for GCC to ensure Bazel uses the correct version
ENV CC=/usr/bin/gcc-10
ENV CXX=/usr/bin/g++-10
ENV PYENV_ROOT $HOME/.pyenv
ENV PATH $PYENV_ROOT/shims:$PYENV_ROOT/bin:$PATH
我从 GitHub 存储库的源代码构建了
spdlogfmt我做了一个小测试，我用
spdlogfmtdan@fae637d1a972:~> vim spdlogfmtHelloworld.cpp
#include <spdlog/spdlog.h>
#include <fmt/core.h>
int main() {
// Using fmt to format a string
std::string name = "World";
std::string formatted = fmt::format("Hello, {}!", name);
// Using spdlog to log the formatted string
spdlog::info(formatted);
return 0;
}
dan@fae637d1a972:> g++ main.cpp -o myprogram -lspdlog -lfmt
g++: error: main.cpp: No such file or directory
dan@fae637d1a972:> g++ spdlogfmtHelloworld.cpp -o myprogram -lspdlog -lfmt
dan@fae637d1a972:> ./myprogram
[2024-03-07 13:17:25.889] [info] Hello, World!
如果我只安装 libfmt8 而没有从源代码构建
fmt如果我安装 libfmt8 并从源代码构建
fmtgit clone https://github.com/hedaniel7/Drake-OpenSUSE-Integrationcd Drake-OpenSUSE-Integrationgit checkout 6c1eddf5ad19b34e8395533d93829a56e6ccef71docker-compose build --no-cachedocker-compose run drake-opensuse当使用用户提供的 fmt 和 spdlog 通过 CMake 构建 Drake 时，典型的方法是指示 Drake 的 CMake 代码使用
find_package()cmake \
-DWITH_USER_FMT:BOOLEAN=ON \
-DWITH_USER_SPDLOG:BOOLEAN=ON
这会跳过 pkg-config 逻辑，否则默认情况下 Drake 内部会发生这种情况。
事实上，最典型的做法是让整个 CMakeLists 项目构建这些项目，而不是使用 Dockerfile（如 https://github.com/RobotLocomotion/drake-external-examples/blob/main/drake_cmake_external/CMakeLists 所示） .txt ）但这并不是严格要求的。
要点是打开“WITH_USER_FMT”等，并确保您已以 CMake 能够找到的方式构建 fmt 和 spdlog（或者您已设置
CMAKE_PREFIX_PATH查看要点输出，另一个问题是您的
spdlogfmt-DSPDLOG_FMT_EXTERNAL:BOOLEAN=ON大局：如果 SUSE 已经有 spdlog 或 fmt 的任何构建，那么最好使用它们而不是从源代码构建。可能WITH_USER_FMT等带有适当的CMake前缀路径会找到SUSE的。