Compilation issues when installing the superbuild on windows from sources with conda

[gabrielenava]

I followed the installation instructions in https://github.com/robotology/robotology-superbuild/blob/master/doc/conda-forge.md#source-installation to install the superbuild on Windows 10 with options ROBOTOLOGY_USES_MATLAB and ROBOTOLOGY_USES_DYNAMICS both set to ON. I am using "Visual Studio 17 2022" as compiler.

I noted that after I compile the superbuild, several folders are created inside the src folder, but they are actually empty (no git clone performed). The compilation apparently terminates with no final error messages.

The empty repos are: whole-body-controllers, WBToolbox, idyntree-yarp-tools, matlab-whole-body-simulator, whole-body-estimators.

I have then checked the full output of the terminal from the moment I run cmake, and I spotted two error messages when compiling YARP:

 yarpcar.vcxproj -> C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\src\YARP\bin\Debug\yarpcard.dll
    main.cpp
main.obj : error LNK2019: unresolved external symbol "void __cdecl cv::cvtColor(class cv::debug_build_guard::_InputArra
y const &,class cv::debug_build_guard::_OutputArray const &,int,int)" (?cvtColor@cv@@YAXAEBV_InputArray@debug_build_gua
rd@1@AEBV_OutputArray@31@HH@Z) referenced in function "class cv::Mat __cdecl yarp::cv::toCvMat<unsigned char>(class yar
p::sig::ImageOf<unsigned char> &)" (??$toCvMat@E@cv@yarp@@YA?AVMat@0@AEAV?$ImageOf@E@sig@1@@Z) [C:\Users\gnava\Document
s\GitHub\robotology-superbuild\build\src\YARP\src\yarpdatadumper\yarpdatadumper.vcxproj] [C:\Users\gnava\Documents\GitH
ub\robotology-superbuild\build\YARP.vcxproj]
C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\src\YARP\bin\Debug\yarpdatadumper.exe : fatal error LNK1120
: 1 unresolved externals [C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\src\YARP\src\yarpdatadumper\yarpd
atadumper.vcxproj] [C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\YARP.vcxproj]

    yarpviz.vcxproj -> C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\src\YARP\bin\Debug\yarpviz.exe
C:\Program Files\Microsoft Visual Studio\2022\Community\MSBuild\Microsoft\VC\v170\Microsoft.CppCommon.targets(245,5): e
rror MSB8066: Custom build for 'C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\4e857eb5f4144b08
06934a8d20c23dd4\YARP-skip-update.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\4e857eb5f
4144b0806934a8d20c23dd4\YARP-configure.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\4e85
7eb5f4144b0806934a8d20c23dd4\YARP-build.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\4e8
57eb5f4144b0806934a8d20c23dd4\YARP-install.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\
52ef495c0705661a9f3052d9a7d91d6b\YARP-complete.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFi
les\c858d14d3983228d6c6013fc82657248\YARP.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\CMakeLists.txt' ex
ited with code 1. [C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\YARP.vcxproj]

I am not sure these errors are somehow related with the missing repos or they are unrelated errors. What I can say is that for a project, I also tried to compile the superbuild with a custom project tag. Then, if I re-install the superbuild from scratch with this custom tag, iDynTree also does not compile correctly and the source folder remains empty. Again I see errors similar to the above when compiling YARP while I don't see other info related to iDynTree.

In this second case I also have all terminal messages dumped into a file: log_cmake_superbuild

Here the tags of iDynTree for my custom project:

  iDynTree:
    type: git
    url: https://github.com/ami-iit/idyntree-hde-fork.git
    version: 6fec756ec9dca59b1ef266bd807d2be3759d7d3c

[traversaro]

Are you sure you are using the compilation command provided in the docs, i.e. cmake --build . --config Release? It seems that you are compiling in Debug mode, while with conda-forge only Release or RelWithDebInfo are supported.

[traversaro]

I am not sure these errors are somehow related with the missing repos or they are unrelated errors.

The missing repos are a result of this errors: as the compilation fails with YARP, the rest of the repos that depend on YARP are not cloned nor compiled.

[gabrielenava]

Are you sure you are using the compilation command provided in the docs, i.e. cmake --build . --config Release? It seems that you are compiling in Debug mode, while with conda-forge only Release or RelWithDebInfo are supported.

indeed, when I have recorded the log files I was experimenting variations and I just run cmake --build . without --config Release. I will repeat the test to verify if the errors disappear.

[gabrielenava]

I have deleted mybuild folder and compiled again my custom project with cmake --build . --config Release, but this did not solve the issue: src folders are still empty.

I didn't see big differences looking at the terminal messages: at this point, I am wondering if for some reasons I am still compiling the superbuild on debug. However this time I followed the instructions.

Here the log (from a second run of cmake after creating the new build folder):
compilation_superbuild.txt

[traversaro]

There is an error when compiling icub-main:

LINK : fatal error LNK1181: cannot open input file 'glut.lib' [C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\src\ICUB\src\tools\iCubGui\src\iCubGui.vcxproj] [C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\ICUB.vcxproj]
    Automatic MOC for target iCubSkinGui
    Generating qrc_qml.cpp
    Building Custom Rule C:/Users/gnava/Documents/GitHub/robotology-superbuild/src/ICUB/src/tools/iCubSkinGui/src/CMakeLists.txt
    main.cpp
    qrc_qml.cpp
    mocs_compilation_Release.cpp
    Generating Code...
    iCubSkinGui.vcxproj -> C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\src\ICUB\bin\Release\iCubSkinGui.exe
    Building Custom Rule C:/Users/gnava/Documents/GitHub/robotology-superbuild/src/ICUB/src/modules/iKinCartesianSolver/CMakeLists.txt
    main.cpp

My guess is that for some reason you did installed the faulty CMake version 3.22.2 (see #1032). This is quite strange, as we had cmake=3.21 in the installation instructions until CMake 3.22.3 came out (see https://github.com/robotology/robotology-superbuild/pull/1054/files). You should be able to update CMake easily in the environment with mamba update cmake and this should solve the problem.

[traversaro]

If instead you have an external CMake that you are using, make sure that you have either CMake 3.21 or 3.22.3, not 3.22.0, 3.22.1 or 3.22.2.

[gabrielenava]

I confirm that the issue was due to my call to cmake-gui, which was opening cmake 3.22.2 for compilation of the superbuild. After uninstalling the external cmake (maybe a bit aggressive but effective) I was able to compile the suberbuild with no errors, and all repos are installed correctly.

However I still have failures when I try to compile the superbuild with the custom tags of my external project, for some reasons I don't find IPOPT. With the default installation I don't have this error. But maybe it is due to issues with the project tags.

 CMake Error at C:/Users/gnava/AppData/Local/mambaforge/envs/robsub/Library/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:230 (message):
    Could NOT find IPOPT (missing: IPOPT_LIBRARIES)
  Call Stack (most recent call first):
    C:/Users/gnava/AppData/Local/mambaforge/envs/robsub/Library/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:594 (_FPHSA_FAILURE_MESSAGE)
    cmake/FindIPOPT.cmake:235 (find_package_handle_standard_args)
    cmake/iDynTreeDependencies.cmake:22 (find_package)
    cmake/iDynTreeDependencies.cmake:54 (idyntree_handle_dependency)
    CMakeLists.txt:43 (include)
  
  
  -- Configuring incomplete, errors occurred!
  See also "C:/Users/gnava/Documents/GitHub/robotology-superbuild/build/src/iDynTree/CMakeFiles/CMakeOutput.log".
C:\Program Files\Microsoft Visual Studio\2022\Community\MSBuild\Microsoft\VC\v170\Microsoft.CppCommon.targets(245,5): error MSB8066: Custom build for 'C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\683be23d4af06ff1632512d848f53f1f\iDynTree-skip-update.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\683be23d4af06ff1632512d848f53f1f\iDynTree-configure.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\683be23d4af06ff1632512d848f53f1f\iDynTree-build.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\683be23d4af06ff1632512d848f53f1f\iDynTree-install.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\52ef495c0705661a9f3052d9a7d91d6b\iDynTree-complete.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\c858d14d3983228d6c6013fc82657248\iDynTree.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\CMakeLists.txt' exited with code 1. [C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\iDynTree.vcxproj]

Here the log file:

superbuild_cmake_mytag.txt

[traversaro]

I guess that the iDynTree fork is missing the fix from robotology/idyntree#793 . (fyi @RiccardoGrieco)

[gabrielenava]

I have corrected the iDynTree branch in my custom project to 0417e9309183e2db2fede451d25f9da2946de2d9 as suggested by @RiccardoGrieco

Now there are errors while compiling ICUB:

 Building Custom Rule C:/Users/gnava/Documents/GitHub/robotology-superbuild/src/ICUB/src/tools/iCubGui/src/CMakeLists.txt
LINK : fatal error LNK1181: cannot open input file 'glut.lib' [C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\src\ICUB\src\tools\iCubGui\src\iCubGui.
vcxproj] [C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\ICUB.vcxproj]

    wholeBodyPlayer.vcxproj -> C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\src\ICUB\bin\Release\wholeBodyPlayer.exe
C:\Program Files\Microsoft Visual Studio\2022\Community\MSBuild\Microsoft\VC\v170\Microsoft.CppCommon.targets(245,5): error MSB8066: Custom build for 'C:\Users\gn
ava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\d55ad0ff2ef80710cc9169c3428084b0\ICUB-skip-update.rule;C:\Users\gnava\Documents\GitHub\robotology-supe
rbuild\build\CMakeFiles\d55ad0ff2ef80710cc9169c3428084b0\ICUB-configure.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\d55ad0ff2ef807
10cc9169c3428084b0\ICUB-build.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\d55ad0ff2ef80710cc9169c3428084b0\ICUB-install.rule;C:\Us
ers\gnava\Documents\GitHub\robotology-superbuild\build\CMakeFiles\52ef495c0705661a9f3052d9a7d91d6b\ICUB-complete.rule;C:\Users\gnava\Documents\GitHub\robotology-s
uperbuild\build\CMakeFiles\c858d14d3983228d6c6013fc82657248\ICUB.rule;C:\Users\gnava\Documents\GitHub\robotology-superbuild\CMakeLists.txt' exited with code 1. [C
:\Users\gnava\Documents\GitHub\robotology-superbuild\build\ICUB.vcxproj]

they seem more similar to the previous compilation issue when I was using a wrong compiler, but now I have only the compiler provided by mamba.

[gabrielenava]

meanwhile I have opened a PR to update the documentation: #1059

I think that the problem I am having with the custom project tags could be debugged also offline: the default compilation works so the original problem of this issue is solved. Other issues seem related to the choice of tags in the custom yaml file.

[gabrielenava]

cc @traversaro

[traversaro]

they seem more similar to the previous compilation issue when I was using a wrong compiler, but now I have only the compiler provided by mamba.

Probably it is just a caching problem. Can you try to delete robotology-superbuild/build/src/ICUB and try again?

[gabrielenava]

I have tried but still the error persists, I link here my custom yamlfile:

aeps.zip

[traversaro]

Just for history, the commit that is missing is robotology/icub-main#756 . The v1.20.0 version of icub-main does not have it (see https://github.com/robotology/icub-main/blob/v1.20.0/src/tools/iCubGui/src/CMakeLists.txt), while v1.21.0 has it: https://github.com/robotology/icub-main/blob/v1.21.0/src/tools/iCubGui/src/CMakeLists.txt . Just for fun, we could try if v1.21.0 works fine (even if we could get other incompatibilities).

[traversaro]

@gabrielenava can we close the issue as it was related to the use of old releases?

[gabrielenava]

sure, closing!