Remaining issues

[wolfv]

• osx64: rclpy segfault because of Python linking
• osx-arm64: need to use this patch in rosidl_python Fix rhel and windows builds ros2/rosidl_python#164 to prevent hard coded path to numpy (that prevents cross-compilation) (it was there, then reverted: Use modern cmake targets to avoid absolute paths to appear in binary archives ros2/rosidl_python#160
• osx-arm64: need to fix SIP build in qt_gui_cpp, something is going wrong
• linux-64: needs rebuild against qt-main to get all the way to desktop-full
• linux-aarch64: needs rebuild against qt-main to get all the way to desktop-full
• osx-64: needs rebuild against qt-main to get all the way to desktop-full
• osx-arm64: needs rebuild against qt-main to get all the way to desktop-full
• win64: needs rebuild against qt-main to get all the way to desktop-full - @traversaro to look into python_qt_bindings and qt_gui_cpp to see where things go wrong
• Package websocketpp on conda-forge (https://github.com/zaphoyd/websocketpp/) -- needed for rmf_fleet_adapter, rmf_visualization_schedule
• smacc2 / tracetools needs python3-lttng and babeltools (1?)
• ros-humble-octomap is clobbering octomap?

[Tobias-Fischer]

The problem for osx-64 with qt-gui-cpp is - I think - the following:

The qmake-generated makefile contains paths to system tools rather than conda-forge tools, i.e.:

#############################################################################
# Makefile for building: libqt_gui_cpp_sip
# Generated by qmake (3.1) (Qt 5.15.4)
# Project:  libqt_gui_cpp_sip.pro
# Template: lib
# Command: /Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/bin/qmake -o Makefile libqt_gui_cpp_sip.pro
#############################################################################

MAKEFILE      = Makefile

EQ            = =

####### Compiler, tools and options

CC            = /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/clang
CXX           = /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/clang++
DEFINES       = -DSIP_PROTECTED_IS_PUBLIC -Dprotected=public -DQT_NO_DEBUG -DQT_PLUGIN -DQT_WIDGETS_LIB -DQT_GUI_LIB -DQT_CORE_LIB
CFLAGS        = -pipe -O2 $(EXPORT_ARCH_ARGS) -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk -mmacosx-version-min=10.13 -Wall -Wextra -fPIC $(DEFINES)
CXXFLAGS      = -pipe -stdlib=libc++ -O2 -std=gnu++11 $(EXPORT_ARCH_ARGS) -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk -mmacosx-version-min=10.13 -Wall -Wextra -fPIC $(DEFINES)
INCPATH       = -I. -I. -I.. -I../../../../ros-humble-qt-gui-cpp/src/work/include -I../../../../../_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/include/pluginlib -I../../../../../_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/include/ament_index_cpp -I../../../../../_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/include/class_loader -I../../../../../_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/include -I../../../../../_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/include/rcpputils -I../../../../../_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/include/rcutils -I../../../../../_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/include/python3.9 -I/Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/include/python3.9 -I/Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/include/qt -I/Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/include/qt/QtWidgets -I/Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/include/qt/QtGui -I/Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/include/qt/QtCore -I. -I/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/System/Library/Frameworks/OpenGL.framework/Headers -I/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/System/Library/Frameworks/AGL.framework/Headers -I/Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/mkspecs/macx-clang
QMAKE         = /Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/bin/qmake
DEL_FILE      = rm -f
CHK_DIR_EXISTS= test -d
MKDIR         = mkdir -p
COPY          = cp -f
COPY_FILE     = cp -f
COPY_DIR      = cp -f -R
INSTALL_FILE  = install -m 644 -p
INSTALL_PROGRAM = install -m 755 -p
INSTALL_DIR   = cp -f -R
QINSTALL      = /Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/bin/qmake -install qinstall
QINSTALL_PROGRAM = /Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/bin/qmake -install qinstall -exe
DEL_FILE      = rm -f
SYMLINK       = ln -f -s
DEL_DIR       = rmdir
MOVE          = mv -f
TAR           = tar -cf
COMPRESS      = gzip -9f
DISTNAME      = libqt_gui_cpp_sip1.0.0
DISTDIR = /Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/work/build/sip/qt_gui_cpp_sip/libqt_gui_cpp_sip/.tmp/libqt_gui_cpp_sip1.0.0
LINK          = /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/clang++
LFLAGS        = -stdlib=libc++ -undefined dynamic_lookup -headerpad_max_install_names $(EXPORT_ARCH_ARGS) -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk -mmacosx-version-min=10.13 -Wl,-rpath,/Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/lib -bundle
LIBS          = $(SUBLIBS) -L../../../../../_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/lib -lament_index_cpp -lconsole_bridge.1.0 -lrcutils -lrcpputils -lclass_loader -ltinyxml2.9.0.0 /Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/lib/libQt5Widgets.dylib /Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/lib/libQt5Gui.dylib /Users/fischert/mambaforge/conda-bld/ros-humble-qt-gui-cpp_1657237172523/_h_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_place/lib/libQt5Core.dylib -framework OpenGL -framework AGL   
AR            = /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ar cq
RANLIB        = /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib -s
SED           = sed
STRIP         = strip

I am not sure how to avoid that. This file is generated from another Makefile (also generated by qmake I think) which contains:

qmake: FORCE
	@$(QMAKE) -o Makefile libqt_gui_cpp_sip.pro

This file in turn is generated by the pyqt-builder .. looks like fun. I wonder if it's easier to patch the Makefiles and substitute these lines?

/cc @wolfv @traversaro

[wolfv]

This post mentions that we could put QMAKE_CC and QMAKE_CXX in our ".pro" file (https://forum.qt.io/topic/95073/qmake-uses-wrong-gcc-version-how-to-change-gcc-version-used).

Maybe that'd help.
If we can use env vars in the .pro file, it would be $CC and $CXX.

[Tobias-Fischer]

I think pyqt builder dynamically creates the .pro file ..

[Tobias-Fischer]

On osx-64, I now get "ld: library not found for -lOpenGL
4721
clang: error: linker command failed with exit code 1 (use -v to see invocation)"

Any idea around that @wolfv?

[Tobias-Fischer]

Fixed the OpenGL issue on osx-64.

[Tobias-Fischer]

Closing here, opened separate issues instead to easier keep track