Building error at core package of the moveit_task_constructor

[doruksonmez]

Hi all,

I was trying to build ISAAC ROS environment to try the depth estimation. However, there seems to be an issue while building the core module of the moveit_task_constructor. The error is generated from the Dockerfile.ros2_humble file and I have narrowed it down as follows:

...
# Install MoveIt task constructor from source.  The "demo" package depends on moveit_resources_panda_moveit_config,
# installed from source above.
RUN --mount=type=cache,target=/var/cache/apt \
    mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
    && apt-get update \
    && apt-get install libpthread-stubs0-dev -y \
    && git clone https://github.com/ros-planning/moveit_task_constructor.git -b humble \
    && cd moveit_task_constructor && source ${ROS_ROOT}/setup.bash \
    && cd msgs && bloom-generate rosdebian && fakeroot debian/rules binary \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    && cd rviz_marker_tools && bloom-generate rosdebian && fakeroot debian/rules binary \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    && cd core && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck V=1 \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb
    # && cd capabilities && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
    # && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    # && cd visualization && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
    # && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    # && cd demo && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
    # && cd ../ && apt-get install -y ./*.deb && rm ./*.deb
...

So it's clear that it has something to do with the core module of it. Error can be seen below:

$ ./run_dev.sh
...
55.95 Determining if the include file pthread.h exists passed with the following output:
55.95 Change Dir: /opt/ros/humble/src/moveit_task_constructor/core/.obj-x86_64-linux-gnu/CMakeFiles/CMakeTmp
55.95 
55.95 Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_04f6c/fast && gmake[2]: Entering directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-x86_64-linux-gnu/CMakeFiles/CMakeTmp'
55.95 /usr/bin/gmake  -f CMakeFiles/cmTC_04f6c.dir/build.make CMakeFiles/cmTC_04f6c.dir/build
55.95 gmake[3]: Entering directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-x86_64-linux-gnu/CMakeFiles/CMakeTmp'
55.95 Building C object CMakeFiles/cmTC_04f6c.dir/CheckIncludeFile.c.o
55.95 /usr/bin/cc   -g -O2 -ffile-prefix-map=/opt/ros/humble/src/moveit_task_constructor/core=. -flto=auto -ffat-lto-objects -flto=auto -ffat-lto-objects -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2  -o CMakeFiles/cmTC_04f6c.dir/CheckIncludeFile.c.o -c /opt/ros/humble/src/moveit_task_constructor/core/.obj-x86_64-linux-gnu/CMakeFiles/CMakeTmp/CheckIncludeFile.c
55.95 Linking C executable cmTC_04f6c
55.95 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_04f6c.dir/link.txt --verbose=1
55.95 /usr/bin/cc -g -O2 -ffile-prefix-map=/opt/ros/humble/src/moveit_task_constructor/core=. -flto=auto -ffat-lto-objects -flto=auto -ffat-lto-objects -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2  -Wl,--no-as-needed  /opt/ros/humble/lib/libbackward.so /usr/lib/x86_64-linux-gnu/libdw.so -Wl,--as-needed   CMakeFiles/cmTC_04f6c.dir/CheckIncludeFile.c.o -o cmTC_04f6c 
55.95 gmake[3]: Leaving directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-x86_64-linux-gnu/CMakeFiles/CMakeTmp'
55.95 gmake[2]: Leaving directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-x86_64-linux-gnu/CMakeFiles/CMakeTmp'
55.95 
55.95 
55.95 
55.95 Performing C SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD succeeded with the following output:
55.95 Change Dir: /opt/ros/humble/src/moveit_task_constructor/core/.obj-x86_64-linux-gnu/CMakeFiles/CMakeTmp
55.95 
55.95 Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_69b80/fast && gmake[2]: Entering directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-x86_64-linux-gnu/CMakeFiles/CMakeTmp'
55.95 /usr/bin/gmake  -f CMakeFiles/cmTC_69b80.dir/build.make CMakeFiles/cmTC_69b80.dir/build
55.95 gmake[3]: Entering directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-x86_64-linux-gnu/CMakeFiles/CMakeTmp'
55.95 Building C object CMakeFiles/cmTC_69b80.dir/src.c.o
55.95 /usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD  -g -O2 -ffile-prefix-map=/opt/ros/humble/src/moveit_task_constructor/core=. -flto=auto -ffat-lto-objects -flto=auto -ffat-lto-objects -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2  -o CMakeFiles/cmTC_69b80.dir/src.c.o -c /opt/ros/humble/src/moveit_task_constructor/core/.obj-x86_64-linux-gnu/CMakeFiles/CMakeTmp/src.c
55.95 Linking C executable cmTC_69b80
55.95 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_69b80.dir/link.txt --verbose=1
55.95 /usr/bin/cc -g -O2 -ffile-prefix-map=/opt/ros/humble/src/moveit_task_constructor/core=. -flto=auto -ffat-lto-objects -flto=auto -ffat-lto-objects -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2  -Wl,--no-as-needed  /opt/ros/humble/lib/libbackward.so /usr/lib/x86_64-linux-gnu/libdw.so -Wl,--as-needed   CMakeFiles/cmTC_69b80.dir/src.c.o -o cmTC_69b80 
55.95 gmake[3]: Leaving directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-x86_64-linux-gnu/CMakeFiles/CMakeTmp'
55.95 gmake[2]: Leaving directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-x86_64-linux-gnu/CMakeFiles/CMakeTmp'
55.95 
55.95 
55.95 Source file was:
55.95 #include <pthread.h>
55.95 
55.95 static void* test_func(void* data)
55.95 {
55.95   return data;
55.95 }
55.95 
55.95 int main(void)
55.95 {
55.95   pthread_t thread;
55.95   pthread_create(&thread, NULL, test_func, NULL);
55.95   pthread_detach(thread);
55.95   pthread_cancel(thread);
55.95   pthread_join(thread, NULL);
55.95   pthread_atfork(NULL, NULL, NULL);
55.95   pthread_exit(NULL);
55.95 
55.95   return 0;
55.95 }
55.95 
55.95 dh_auto_configure: error: cd .obj-x86_64-linux-gnu && cmake -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_SYSCONFDIR=/etc -DCMAKE_INSTALL_LOCALSTATEDIR=/var -DCMAKE_EXPORT_NO_PACKAGE_REGISTRY=ON -DCMAKE_FIND_USE_PACKAGE_REGISTRY=OFF -DCMAKE_FIND_PACKAGE_NO_PACKAGE_REGISTRY=ON "-GUnix Makefiles" -DCMAKE_VERBOSE_MAKEFILE=ON -DCMAKE_INSTALL_LIBDIR=lib/x86_64-linux-gnu -DCMAKE_INSTALL_PREFIX=/opt/ros/humble -DAMENT_PREFIX_PATH=/opt/ros/humble -DCMAKE_PREFIX_PATH=/opt/ros/humble -DBUILD_TESTING=OFF .. returned exit code 1
55.95 make[1]: *** [debian/rules:33: override_dh_auto_configure] Error 2
55.95 make[1]: Leaving directory '/opt/ros/humble/src/moveit_task_constructor/core'
55.95 make: *** [debian/rules:27: binary] Error 2
------
Dockerfile.ros2_humble:241
--------------------
 240 |     # installed from source above.
 241 | >>> RUN --mount=type=cache,target=/var/cache/apt \
 242 | >>>     mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
 243 | >>>     && apt-get update \
 244 | >>>     && apt-get install libpthread-stubs0-dev -y \
 245 | >>>     && git clone https://github.com/ros-planning/moveit_task_constructor.git -b humble \
 246 | >>>     && cd moveit_task_constructor && source ${ROS_ROOT}/setup.bash \
 247 | >>>     && cd msgs && bloom-generate rosdebian && fakeroot debian/rules binary \
 248 | >>>     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
 249 | >>>     && cd rviz_marker_tools && bloom-generate rosdebian && fakeroot debian/rules binary \
 250 | >>>     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
 251 | >>>     && cd core && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck V=1 \
 252 | >>>     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb
 253 |         # && cd capabilities && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
--------------------
ERROR: failed to solve: process "/bin/bash -c mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src     && apt-get update     && apt-get install libpthread-stubs0-dev -y     && git clone https://github.com/ros-planning/moveit_task_constructor.git -b humble     && cd moveit_task_constructor && source ${ROS_ROOT}/setup.bash     && cd msgs && bloom-generate rosdebian && fakeroot debian/rules binary     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb     && cd rviz_marker_tools && bloom-generate rosdebian && fakeroot debian/rules binary     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb     && cd core && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck V=1     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb" did not complete successfully: exit code: 2
~/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts

What might be causing this issue? Thanks.