tbb/scalable_allocator.h: No such file or directory (RHEL) #1769
Description
Description
When building our code with ros-jazzy-gtsam binaries on RHEL, it seems the include directory for TBB used by gtsam is not propagated downstream (well, it is missing), causing that error:
06:38:20 DEBUG: [ 31%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o
06:38:20 DEBUG: cd /builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/.obj-x86_64-redhat-linux-gnu/corelib/src && /usr/bin/g++ -DDISABLE_LIBUSB -DDISABLE_PCAP -DDISABLE_PNG -DPCL_OMP -DQT_CORE_LIB -DQT_GUI_LIB -DQT_NO_DEBUG -DQT_NO_KEYWORDS -DQT_OPENGL_LIB -DQT_WIDGETS_LIB -DVTK_GLOBAL_WARNING_DISPLAY_OFF -Dkiss_fft_scalar=double -Dqh_QHpointer -Drtabmap_core_EXPORTS -I/builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/corelib/src -I/builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/corelib/src/../include -I/builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/.obj-x86_64-redhat-linux-gnu/corelib/src -I/builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/.obj-x86_64-redhat-linux-gnu/corelib/src/include -I/opt/ros/jazzy/lib/cmake/GTSAM/../../../include -I/builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/utilite/src/../include -I/builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/.obj-x86_64-redhat-linux-gnu/utilite/src/include -isystem /opt/ros/jazzy/include -isystem /usr/include/eigen3 -isystem /usr/include/opencv4 -isystem /usr/include/pcl-1.12 -isystem /usr/include/ni -isystem /usr/include/vtk -isystem /usr/include/freetype2 -isystem /usr/include/qt5 -isystem /usr/include/qt5/QtWidgets -isystem /usr/include/qt5/QtGui -isystem /usr/include/qt5/QtCore -isystem /usr/lib64/qt5/mkspecs/linux-g++ -isystem /usr/include/qt5/QtOpenGL -isystem /opt/ros/jazzy/include/g2o/core -isystem /opt/ros/jazzy/include/g2o/stuff -isystem /opt/ros/jazzy/include/g2o/solvers/eigen -isystem /opt/ros/jazzy/include/g2o/solvers/pcg -isystem /opt/ros/jazzy/include/g2o/types/slam2d -isystem /opt/ros/jazzy/include/g2o/types/slam3d -isystem /opt/ros/jazzy/include/g2o/types/sba -isystem /opt/ros/jazzy/include/g2o/solvers/csparse -isystem /usr/include/suitesparse -isystem /opt/ros/jazzy/include/g2o/solvers/cholmod -isystem /opt/ros/jazzy/include/gtsam/3rdparty/SuiteSparse_config -isystem /opt/ros/jazzy/include/gtsam/3rdparty/CCOLAMD -isystem /opt/ros/jazzy/include/gtsam/3rdparty/metis -isystem /opt/ros/jazzy/include/gtsam/3rdparty/Eigen -O2 -flto=auto -ffat-lto-objects -fexceptions -g -grecord-gcc-switches -pipe -Wall -Werror=format-security -Wp,-D_FORTIFY_SOURCE=2 -Wp,-D_GLIBCXX_ASSERTIONS -specs=/usr/lib/rpm/redhat/redhat-hardened-cc1 -fstack-protector-strong -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1 -m64 -march=x86-64-v2 -mtune=generic -fasynchronous-unwind-tables -fstack-clash-protection -fcf-protection -fmessage-length=0 -fopenmp -std=c++17 -DNDEBUG -std=gnu++17 -fPIC -Wall -Wno-unknown-pragmas -fPIC -fopenmp -MD -MT corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o -MF CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o.d -o CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o -c /builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/corelib/src/optimizer/OptimizerGTSAM.cpp
06:38:23 DEBUG: In file included from /opt/ros/jazzy/include/gtsam/global_includes.h:22,
06:38:23 DEBUG: from /opt/ros/jazzy/include/gtsam/base/Vector.h:28,
06:38:23 DEBUG: from /opt/ros/jazzy/include/gtsam/base/Matrix.h:28,
06:38:23 DEBUG: from /opt/ros/jazzy/include/gtsam/base/Manifold.h:22,
06:38:23 DEBUG: from /opt/ros/jazzy/include/gtsam/geometry/BearingRange.h:21,
06:38:23 DEBUG: from /opt/ros/jazzy/include/gtsam/geometry/Pose2.h:23,
06:38:23 DEBUG: from /builddir/build/BUILD/ros-jazzy-rtabmap-0.21.5/corelib/src/optimizer/OptimizerGTSAM.cpp:39:
06:38:23 DEBUG: /opt/ros/jazzy/include/gtsam/base/types.h:34:10: fatal error: tbb/scalable_allocator.h: No such file or directory
06:38:23 DEBUG: 34 | #include <tbb/scalable_allocator.h>
06:38:23 DEBUG: | ^~~~~~~~~~~~~~~~~~~~~~~~~~
06:38:23 DEBUG: compilation terminated.
06:38:23 DEBUG: make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/build.make:947: corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o] Error 1
Full log here: https://build.ros2.org/job/Jbin_rhel_el964__rtabmap__rhel_9_x86_64__binary/35/consoleFull
We don't see that error on Ubuntu Noble, only on RHEL.
Steps to reproduce
We include gtsam this way:
find_package(GTSAM CONFIG QUIET)
include_directories(${GTSAM_INCLUDE_DIRS})
add_executable(my_app main.cpp)
target_link_libraries(my_app PRIVATE gtsam)Minimal code example that would reproduce the issue:
#include <gtsam/base/types.h>
int main(int argc, char * argv[])
{
return 0;
}Note however I don't know exactly the machine configuration used by the ros2 buildfarm for RHEL.
Expected behavior
Not having build error.
Environment
ROS2 Jazzy on RHEL. The error doesn't happen with ROS2 Jazzy on Ubuntu Noble.
Additional information
See introlab/rtabmap#1306 for original issue.