我正在尝试在 OpenSUSE Leap 15.4 中从源代码构建 drake。我有一个存储库，我在其中记录我的进度。
我快到了。我必须在 10500 步中构建 ~9500 步。
这可以看作是 drake 与 OpenSUSE 的集成 - spdlog 和 fmt 的构建错误第 2 部分的后续内容
我尝试通过两种方式从源代码构建 fmt 和 spdlog 来规避此问题中提到的先前错误：
在这两种情况下我都遇到了以下错误
ERROR: /home/dan/drake/common/BUILD.bazel:569:16: Linking common/resource_tool failed: (Exit 1): gcc-10 failed: error executing command (from target //common:resource_tool) /usr/bin/gcc-10 @bazel-out/k8-opt/bin/common/resource_tool-2.params
Use --sandbox_debug to see verbose messages from the sandbox and retain the sandbox build root for debugging
/usr/bin/ld: external/spdlog/lib/libspdlog.a(spdlog.cpp.o): relocation R_X86_64_32S against `.rodata' can not be used when making a PIE object; recompile with -fPIE
/usr/bin/ld: failed to set dynamic section sizes: bad value
collect2: error: ld returned 1 exit status
我通过使用
-DCMAKE_POSITION_INDEPENDENT_CODE=TRUE纠正此问题后，对于上述两种方法，我得到以下（可能相同，至少相似）错误：
（小样本）：
multibody/tree/multibody_tree.cc: In instantiation of 'int drake::multibody::internal::MultibodyTree<T>::NumBodiesWithName(std::string_view) const [with T = double; std::string_view = std::basic_string_view<char>]':
multibody/tree/multibody_tree.cc:3778:1: required from here
multibody/tree/multibody_tree.cc:370:59: error: cannot convert 'std::string_view' {aka 'std::basic_string_view<char>'} to 'const key_type&' {aka 'const std::__cxx11::basic_string<char>&'}
370 | return static_cast<int>(rigid_bodies_.names_map().count(name));
| ^~~~
| |
| std::string_view {aka std::basic_string_view<char>}
multibody/tree/element_collection.cc: In instantiation of 'void drake::multibody::internal::ElementCollection<T, Element, Index>::Rename(Index, std::string) [with T = double; Element = drake::multibody::Frame; Index = drake::TypeSafeIndex<drake::multibody::FrameTag>; std::string = std::__cxx11::basic_string<char>]':
multibody/tree/element_collection.cc:160:16: required from here
bazel-out/k8-opt/bin/multibody/tree/_virtual_includes/multibody_tree_core/drake/multibody/tree/element_collection.h:136:21: warning: unused parameter 'index' [-Wunused-parameter]
136 | void Rename(Index index, std::string name);
| ~~~~~~^~~~~
这是我用来编译 drake 的 OpenSUSE Dockerfile：
# 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 unzip tar gzip openmpi-devel
# spdlog-devel spdlog-devel install spdlog-devel and fmt-devel
# llvm-clang llvm-clang-devel not installed as there are too old
# 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++
# Download and build fmt
RUN wget https://github.com/fmtlib/fmt/releases/download/8.0.1/fmt-8.0.1.zip && \
unzip fmt-8.0.1.zip && \
cd fmt-8.0.1 && \
mkdir build && cd build && \
cmake .. && \
make && \
sudo make install
# Download and build spdlog
RUN wget https://github.com/gabime/spdlog/archive/v1.6.0.tar.gz && \
tar xzf v1.6.0.tar.gz && \
cd spdlog-1.6.0 && \
mkdir build && cd build && \
cmake .. -DSPDLOG_BUILD_SHARED=ON -DCMAKE_CXX_FLAGS="-fPIC" -DSPDLOG_FMT_EXTERNAL=ON && \
make && \
sudo 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
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 python3-clang15 clang15-devel
# 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:$PATH
ENV LD_LIBRARY_PATH=/usr/lib/llvm-14/lib:$LD_LIBRARY_PATH
ENV CMAKE_PREFIX_PATH=/usr/local/lib/cmake:${CMAKE_PREFIX_PATH}
有关 docker 镜像的一些附加信息：
dan@1065f1f67b07:~/drake/cmake> gcc --version
gcc (SUSE Linux) 10.5.0
Copyright (C) 2020 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
dan@1065f1f67b07:~/drake/cmake> clang --version
clang version 15.0.7
Target: x86_64-suse-linux
Thread model: posix
InstalledDir: /usr/bin
#include <iostream>
int main() {
#if __cplusplus == 201703L
std::cout << "C++17\n";
#elif __cplusplus == 201402L
std::cout << "C++14\n";
#elif __cplusplus == 201103L
std::cout << "C++11\n";
#elif __cplusplus == 199711L
std::cout << "C++98\n";
#else
std::cout << "pre-standard C++\n";
#endif
return 0;
}
in test_std_version.cpp
outputs:
dan@1065f1f67b07:~/drake/cmake> ./test_std_version
C++14
我在 docker hub 上上传了 docker 镜像，以便可以查看并试验结果状态，并跳过漫长的编译时间。以下是使用它们的步骤：
git clone https://github.com/hedaniel7/Drake-OpenSUSE-Integration
cd Drake-OpenSUSE-Integration
git checkout 187d96d0b915473bf286a476be0bc064d62e8d31
cd DockerHub
docker pull danielhe7/drake-opensuse-integration:fmt-8.1.1-spdlog-1.10 (or danielhe7/drake-opensuse-integration:fmt-10.0.0-spdlog-1.12)
docker-compose run drake-opensuse
您使用的 Drake 版本是否包含 https://github.com/RobotLocomotion/drake/pull/21089？最近的 Drake 必须以 C++20 模式（或更新版本）构建。截至该 PR，这现在已成为项目范围内的默认设置。在此 PR 之前，C++20 的选择是特定于平台的 setup/ubuntu/source_distribution 脚本的一部分，该脚本可能在 SUSE 设置中丢失。