ros-noetic-teb-local-planner does not build

[muellerbernd]

Hello. I am currently trying to convert my Archlinux ros noetic setup into the nix world. Everything works fine but I don't get the teb-local-planner to work. On Arch everything works fine.
When I build the teb-local-planner it crashes with the following error:

> CMake Error at cmake_modules/FindSUITESPARSE.cmake:131 (MESSAGE):
>   Unable to find SuiteSparse
> Call Stack (most recent call first):
>   CMakeLists.txt:35 (find_package)

As far as I know Suitesparse is a dependency of g2o, which gets build with the ros-noetic-libg2o package, which itself is already a dependency of teb-local-planner.
You can reproduce my setup with the config given in my fork of this package.

[wentasah]

Hi! There seems to be at least two problems.

First, teb-local-planner doesn't declare dependency on suitesparse in package.xml and therefore, the dependency is missing also in .nix files.

Second, even if the dependency is added manually to the .nix files, cmake in teb-local-planner does not find it. I guess this is because teb-local-planner hardcodes locations where to search for the library and this does not work for nix. I guess the referenced file would have to be patched to work with Nix.

Unfortunately, I won't have time for it in the upcoming days.

[muellerbernd]

@wentasah could you give me a hint on how this should look like?
edit: suitesparse is a dependency of libg2o

[wentasah]

Usually the FindXXX.cmake files allow to specify the location of the library via some variable, e.g., SUITESPARSE_ROOT. It doesn't work here, because the file uses FIND_PATH instead of FIND_LIBRARY to find the libraries. But I've found a hack to find it even without modification:

diff --git a/distros/noetic/teb-local-planner/default.nix b/distros/noetic/teb-local-planner/default.nix
index e61d2dc3a..37c1711b3 100644
--- a/distros/noetic/teb-local-planner/default.nix
+++ b/distros/noetic/teb-local-planner/default.nix
@@ -4,3 +4,3 @@
 
-{ lib, buildRosPackage, fetchurl, base-local-planner, catkin, cmake-modules, costmap-2d, costmap-converter, dynamic-reconfigure, geometry-msgs, interactive-markers, libg2o, mbf-costmap-core, mbf-msgs, message-generation, message-runtime, nav-core, nav-msgs, pluginlib, roscpp, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros, visualization-msgs }:
+{ lib, buildRosPackage, fetchurl, base-local-planner, catkin, cmake-modules, costmap-2d, costmap-converter, dynamic-reconfigure, geometry-msgs, interactive-markers, libg2o, mbf-costmap-core, mbf-msgs, message-generation, message-runtime, nav-core, nav-msgs, pluginlib, roscpp, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros, visualization-msgs, suitesparse }:
 buildRosPackage {
@@ -16,5 +16,8 @@ buildRosPackage {
   buildType = "catkin";
-  buildInputs = [ catkin cmake-modules message-generation tf2-eigen tf2-geometry-msgs ];
+  buildInputs = [ catkin cmake-modules message-generation tf2-eigen tf2-geometry-msgs suitesparse ];
   propagatedBuildInputs = [ base-local-planner costmap-2d costmap-converter dynamic-reconfigure geometry-msgs interactive-markers libg2o mbf-costmap-core mbf-msgs message-runtime nav-core nav-msgs pluginlib roscpp std-msgs tf2 tf2-ros visualization-msgs ];
   nativeBuildInputs = [ catkin ];
+  cmakeFlags = [
+    "-DCMAKE_INCLUDE_PATH=${suitesparse}/lib"
+  ];
 

If you do this, you end up with another problem:

-- Searching for g2o ...
-- Found g2o headers in: /nix/store/9dwfgpbqh35whq5fpjx9d64lk21hp61p-ros-noetic-libg2o-2020.5.3-r1/include/g2o
CMake Error at cmake_modules/FindG2O.cmake:85 (message):
  Could not find libg2o!
Call Stack (most recent call first):
  CMakeLists.txt:36 (find_package)

g2o is available, as can be seen from found headers, but two if its several libraries are missing.

[wentasah]

The above problem can be solved by adding openblas as libg2o build input:

diff --git a/distros/noetic/libg2o/default.nix b/distros/noetic/libg2o/default.nix
index 03ab711b1..8ff4b572d 100644
--- a/distros/noetic/libg2o/default.nix
+++ b/distros/noetic/libg2o/default.nix
@@ -4,3 +4,3 @@
 
-{ lib, buildRosPackage, fetchurl, boost, catkin, cmake, eigen, libGL, libGLU, suitesparse }:
+{ lib, buildRosPackage, fetchurl, boost, catkin, cmake, eigen, libGL, libGLU, suitesparse, openblas }:
 buildRosPackage {
@@ -17,3 +17,3 @@ buildRosPackage {
   buildInputs = [ cmake ];
-  propagatedBuildInputs = [ boost catkin eigen libGL libGLU suitesparse ];
+  propagatedBuildInputs = [ boost catkin eigen libGL libGLU suitesparse openblas ];
   nativeBuildInputs = [ cmake ];
diff --git a/distros/noetic/teb-local-planner/default.nix b/distros/noetic/teb-local-planner/default.nix
index e61d2dc3a..37c1711b3 100644
--- a/distros/noetic/teb-local-planner/default.nix
+++ b/distros/noetic/teb-local-planner/default.nix
@@ -4,3 +4,3 @@
 
-{ lib, buildRosPackage, fetchurl, base-local-planner, catkin, cmake-modules, costmap-2d, costmap-converter, dynamic-reconfigure, geometry-msgs, interactive-markers, libg2o, mbf-costmap-core, mbf-msgs, message-generation, message-runtime, nav-core, nav-msgs, pluginlib, roscpp, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros, visualization-msgs }:
+{ lib, buildRosPackage, fetchurl, base-local-planner, catkin, cmake-modules, costmap-2d, costmap-converter, dynamic-reconfigure, geometry-msgs, interactive-markers, libg2o, mbf-costmap-core, mbf-msgs, message-generation, message-runtime, nav-core, nav-msgs, pluginlib, roscpp, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros, visualization-msgs, suitesparse }:
 buildRosPackage {
@@ -16,5 +16,8 @@ buildRosPackage {
   buildType = "catkin";
-  buildInputs = [ catkin cmake-modules message-generation tf2-eigen tf2-geometry-msgs ];
+  buildInputs = [ catkin cmake-modules message-generation tf2-eigen tf2-geometry-msgs suitesparse ];
   propagatedBuildInputs = [ base-local-planner costmap-2d costmap-converter dynamic-reconfigure geometry-msgs interactive-markers libg2o mbf-costmap-core mbf-msgs message-runtime nav-core nav-msgs pluginlib roscpp std-msgs tf2 tf2-ros visualization-msgs ];
   nativeBuildInputs = [ catkin ];
+  cmakeFlags = [
+    "-DCMAKE_INCLUDE_PATH=${suitesparse}/lib"
+  ];

Then it compiles, but the final link fails with:

/nix/store/22p5nv7fbxhm06mfkwwnibv1nsz06x4b-binutils-2.40/bin/ld: devel/lib/libteb_local_planner.so: undefined reference to `int boost::math::sign<double>(double const&)'

[muellerbernd]

nice thanks. For that problem I already have a patch because I had the same problem on arch.

diff --color -Naur teb_local_planner-release-release-noetic-teb_local_planner/include/teb_local_planner/h_signature.h teb_local_planner-release-release-noetic-teb_local_planner_new/include/teb_local_planner/h_signature.h
--- A/include/teb_local_planner/h_signature.h   2020-05-29 18:12:46.000000000 +0200
+++ B/include/teb_local_planner/h_signature.h   2023-01-20 19:56:56.259209108 +0100
@@ -51,6 +51,7 @@
 #include <functional>
 #include <vector>
 #include <iterator>
+#include <boost/math/special_functions/sign.hpp>


 namespace teb_local_planner

[muellerbernd]

It now compiles and everything seems to work fine. I am running a Simulation and the simulated robot uses teb as local planner. Pathplanning works and the interaction with move_base also works. Huge thanks @wentasah

[kjeremy]

Can you file an issue upstream at https://github.com/rst-tu-dortmund/teb_local_planner