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Fixing issue with Eigen in Ubuntu Jammy on ARM #378

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Sep 19, 2024
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Fixing issue with Eigen in Ubuntu Jammy on ARM #378

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5bf6850
Fixing issue with Eigen in Ubuntu Jammy on ARM
ayrton04 Aug 23, 2024
f0847b9
Also add to fuse_publishers
ayrton04 Aug 27, 2024
3f63f4b
Fixing packages with no direct Eigen dependency
ayrton04 Sep 13, 2024
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9 changes: 9 additions & 0 deletions fuse_constraints/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,15 @@ else()
add_compile_options(-Wall -Werror)
endif()

# On ARM, the use of Eigen 3.4 with g++11 (both the versions in Jammy) causes a warning, which in turn causes
# the build to fail. Details are here: https://gitlab.com/libeigen/eigen/-/issues/2326. We can suppress the warning
# for ARM builds here.
if(Eigen3_VERSION VERSION_EQUAL 3.4 AND
CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
add_compile_options(-Wno-class-memaccess)
endif()

# fuse_constraints library
add_library(${PROJECT_NAME}
src/absolute_constraint.cpp
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9 changes: 9 additions & 0 deletions fuse_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,15 @@ catkin_package(
###########
add_compile_options(-Wall -Werror)

# On ARM, the use of Eigen 3.4 with g++11 (both the versions in Jammy) causes a warning, which in turn causes
# the build to fail. Details are here: https://gitlab.com/libeigen/eigen/-/issues/2326. We can suppress the warning
# for ARM builds here.
if(Eigen3_VERSION VERSION_EQUAL 3.4 AND
CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
add_compile_options(-Wno-class-memaccess)
endif()

## fuse_core library
add_library(${PROJECT_NAME}
src/async_motion_model.cpp
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9 changes: 9 additions & 0 deletions fuse_models/CMakeLists.txt
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Expand Up @@ -81,6 +81,15 @@ roslint_cpp()
###########
add_compile_options(-Wall -Werror)

# On ARM, the use of Eigen 3.4 with g++11 (both the versions in Jammy) causes a warning, which in turn causes
# the build to fail. Details are here: https://gitlab.com/libeigen/eigen/-/issues/2326. We can suppress the warning
# for ARM builds here.
if(Eigen3_VERSION VERSION_EQUAL 3.4 AND
CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
add_compile_options(-Wno-class-memaccess)
endif()

## Declare a C++ library
add_library(${PROJECT_NAME}
src/acceleration_2d.cpp
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9 changes: 9 additions & 0 deletions fuse_publishers/CMakeLists.txt
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Expand Up @@ -31,6 +31,15 @@ catkin_package(
###########
add_compile_options(-Wall -Werror)

# On ARM, the use of Eigen 3.4 with g++11 (both the versions in Jammy) causes a warning, which in turn causes
# the build to fail. Details are here: https://gitlab.com/libeigen/eigen/-/issues/2326. We can suppress the warning
# for ARM builds here.
if(Eigen3_VERSION VERSION_EQUAL 3.4 AND
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This is actually a bit trickier than I thought.

This package itself has no direct dependency on Eigen, but it includes files that eventually include Eigen, and so we end up with the same build error.

However, because we don't directly depend on Eigen here, the variable Eigen3_VERSION isn't even declared, so we'll never enter this block.

Does anyone know if there's a way for packages that we include to export their build settings so that downstream packages pick them up? Ideally, any package that depends on, e.g., fuse_core would automatically get the -Wno-class-memaccess flag.

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https://docs.ros.org/en/api/catkin/html/dev_guide/generated_cmake_api.html#catkin_package

In the docs for the catkin_package() command:

DEPENDS (list of strings) – a list of CMake projects which this project depends on. Since they might not be find_packagable or lack a pkg-config file their INCLUDE_DIRS and LIBRARIES are passed directly. This requires that it has been find_package-ed before and all variables (_FOUND, _INCLUDE_DIRS, etc.) have the same case as this argument.

Based on that description, I would have expected dependent packages would have had access to the Eigen3_FOUND and similar variables after calling find_package(catkin REQUIRED COMPONENTS fuse_core).

But it does say the string case used in catkin_package(DEPENDS) must match the case of the CMake variables. In fuse_core I have a depend on EIGEN3 all caps:
https://github.com/locusrobotics/fuse/blob/devel/fuse_core/CMakeLists.txt#L29

Is that what the problem is? Just a case mismatch between fuse_core and this new if-block?

Barring that, using the CFG_EXTRAS parameter might be another way to make this work. If fuse_core exports some build flags using CFG_EXTRAS, dependent packages should pick that up, right? If their CMake files are written correctly. I think.

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No, the all-caps version is empty even in packages that use Eigen directly. I had to print out all the available variables to figure that one out.

I'll try your other suggestion, thanks!

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So maybe the fuse_core package is wrong, and it should be Eigen3 instead of EIGEN3?

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I think fuse_core is exporting the correct dependency:

https://github.com/ros/geometry2/blob/6df9e94363061a24ba890a6ff29771a96b0d756b/tf2_eigen/CMakeLists.txt#L34
https://github.com/cra-ros-pkg/robot_localization/blob/af30f3bc0592d84fcc06bdbdf6063c126f834493/CMakeLists.txt#L43

However, the rolling branch of this package uses this when exporting ament dependencies:

fuse/fuse_core/CMakeLists.txt

Line 118 in ff41ec0

Eigen3

CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
add_compile_options(-Wno-class-memaccess)
endif()

# fuse_publishers library
add_library(${PROJECT_NAME}
src/path_2d_publisher.cpp
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9 changes: 9 additions & 0 deletions fuse_viz/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,15 @@ add_definitions(-DQT_NO_KEYWORDS)
###########
add_compile_options(-Wall -Werror)

# On ARM, the use of Eigen 3.4 with g++11 (both the versions in Jammy) causes a warning, which in turn causes
# the build to fail. Details are here: https://gitlab.com/libeigen/eigen/-/issues/2326. We can suppress the warning
# for ARM builds here.
if(Eigen3_VERSION VERSION_EQUAL 3.4 AND
CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
add_compile_options(-Wno-class-memaccess)
endif()

catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
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