Superbuild fails on Ubuntu Mate 22.04

[themightyoarfish]

After resolving #74 , my next error is

… 
-- Performing Test COMPILER_SUPPORT_std=cpp03
-- Configuring done
CMake Error at /usr/share/cmake-3.22/Modules/CTestTargets.cmake:28 (configure_file):
  No such file or directory
Call Stack (most recent call first):
  /usr/share/cmake-3.22/Modules/CTest.cmake:264 (include)
  CMakeLists.txt:62 (include)


-- Performing Test COMPILER_SUPPORT_std=cpp03 - Failed
-- Standard libraries to link to explicitly: none
-- Performing Test COMPILER_SUPPORT_std=cpp03 - Failed
-- Standard libraries to link to explicitly: none
[ 26%] Performing build step for 'cereal'
-- Generating done
-- Build files have been written to: /home/rasmus/software/ct_icp/.cmake-build-superbuild/MappingResearchKEU_superbuild/src/MappingResearchKEU_superbuild-build/yaml-cpp/src/yaml-cpp-build
gmake[6]: warning: -j6 forced in submake: resetting jobserver mode.
[ 27%] Performing build step for 'yaml-cpp'
-- Found unsuitable Qt version "5.15.3" from /usr/bin/qmake
gmake[6]: warning: -j6 forced in submake: resetting jobserver mode.
CMake Error: The source directory "/home/rasmus/software/ct_icp/.cmake-build-superbuild/MappingResearchKEU_superbuild/src/MappingResearchKEU_superbuild-build/glog/src/glog-build/CMakeFiles/CMakeTmp" does not appear to contain CMakeLists.txt.
Specify --help for usage, or press the help button on the CMake GUI.
CMake Error at CMakeLists.txt:297 (try_compile):
  Failed to configure test project build system.


CMake Error: The source directory "/home/rasmus/software/ct_icp/.cmake-build-superbuild/MappingResearchKEU_superbuild/src/MappingResearchKEU_superbuild-build/glog/src/glog-build/CMakeFiles/CMakeTmp" does not appear to contain CMakeLists.txt.
Specify --help for usage, or press the help button on the CMake GUI.
CMake Error at CMakeLists.txt:297 (try_compile):
  Failed to configure test project build system.
…

And unfortunately, the build continues for a while, leaving you to find this error in the past terminal output.

[themightyoarfish]

This seems to resolve when setting -DWITH_GTEST=OFF in superbuild/CMakeLists.txt. Also set -DWITH_CEREAL=OFF, but unsure if this contributed.

[themightyoarfish]

Next error when building the actual program is

CMake Error at test/unit/CMakeLists.txt:6 (target_link_libraries):
  Cannot specify link libraries for target "all_tests" which is not built by
  this project.

[themightyoarfish]

Removing the tests/ subdirectory from the root cmakelists then makes it configure, but it does not build:

In file included from /usr/include/signal.h:328,
                 from /home/rasmus/software/ct_icp/src/SlamCore/utils.cxx:16:
/home/rasmus/software/ct_icp/src/SlamCore/utils.cxx:118:32: error: size of array ‘alternate_stack’ is not an integral constant-expression
  118 | static uint8_t alternate_stack[SIGSTKSZ];
      |                                ^~~~~~~~
make[2]: *** [src/SlamCore/CMakeFiles/SlamCore.dir/build.make:146: src/SlamCore/CMakeFiles/SlamCore.dir/utils.cxx.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:149: src/SlamCore/CMakeFiles/SlamCore.dir/all] Error 2
make: *** [Makefile:136: all] Error 2

Maybe this is now a compiler version issue.

[themightyoarfish]

I can temporarily work around this by putting in a constant instead, but it then turns out that the software does not build without cereal:

/usr/bin/ld: cannot find -lcereal: No such file or directory

[themightyoarfish]

Setting -DWITH_CEREAL back to ON in the superbuild and rebuilding it (twice, as first time gives error) still does not install the required shared library :/

Actually, running the superbuild install with -j1 shows no errors, while without job number, it just fails without showing th actual error. Still no libcereal though.

… 
make[3]: *** [Makefile:136: all] Error 2
make[2]: *** [CMakeFiles/MappingResearchKEU_superbuild.dir/build.make:102: MappingResearchKEU_superbuild/src/MappingResearchKEU_superbuild-stamp/MappingResearchKEU_superbuild-install] Error 2
make[1]: *** [CMakeFiles/Makefile2:83: CMakeFiles/MappingResearchKEU_superbuild.dir/all] Error 2
make: *** [Makefile:91: all] Error 2

There's no red text at least anywhere in the terminal, maybe it scrolls too fast to be found and my history buffer does not have it anymore.

[themightyoarfish]

Ah I see this is a problem in the SlamCore cmakelists, as cereal is header-only, but it is just passed to target_link_libraries(). Maybe the library does not get found properly.

[themightyoarfish]

Ok I am now progressing, after running sudo apt autoremove and installing the libgflags-dev and libunwind-dev packages.
It appears to build successfully now…

[themightyoarfish]

To install the ROS wrapper, instructions say

    /!\ Set the CMAKE argument -DWITH_ROS=ON to the configure step (1) of the superbuild (Step 1)

However, this cmake variable is not respected:

cmake ../superbuild/ -DWITH_ROS=ON
-- Configuring done
-- Generating done
CMake Warning:
  Manually-specified variables were not used by the project:

    WITH_ROS

[themightyoarfish]

Just following the instructions without WITH_ROS anywhere reveals that the ros wrapper also does not configure with the superbuild:

INFO [ROSCore] -- Variable "SUPERBUILD_INSTALL_DIR" not specified. Trying to set it to /home/rasmus/software/ct_icp/install
INFO [ROSCore] -- Variable "CT_ICP_INSTALL_DIR" not specified. Trying to set it to /home/rasmus/software/ct_icp/install/CT_ICP/lib/cmake.
INFO [Superbuild] -- Successfully found target glog::glog
INFO [Superbuild] --  Variable EIGEN_DIR not found, setting it to directory /home/rasmus/software/ct_icp/install/Eigen3/share/eigen3/cmake
INFO [Superbuild] -- Successfully Found Target Eigen3::Eigen
-- Found required Ceres dependency: Eigen version 3.3.7 in /home/rasmus/software/ct_icp/install/Eigen3/include/eigen3
-- Found required Ceres dependency: glog
-- Found Ceres version: 2.0.0 installed in: /home/rasmus/software/ct_icp/install/Ceres with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SchurSpecializations, Multithreading]
INFO [Superbuild] -- Successfully found target Ceres::ceres
INFO [Superbuild] -- Successfully found target yaml-cpp
CMake Error at /home/rasmus/software/ct_icp/install/viz3d/lib/cmake/viz3dConfig.cmake:12 (check_required_components):
  Unknown CMake command "check_required_components".
Call Stack (most recent call first):
  /home/rasmus/software/ct_icp/install/superbuild_import.cmake:35 (find_package)
  /home/rasmus/software/ct_icp/install/superbuild_import.cmake:101 (SLAM_DEFAULT_FIND_PACKAGE)
  /home/rasmus/software/ct_icp/cmake/superbuild_utils.cmake:27 (include)
  CMakeLists.txt:33 (SLAM_INCLUDE_SUPERBUILD)