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Linker error on -ltbb when building with XCode toolchain (vs. CLT) #4

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zoercai opened this issue Jul 26, 2015 · 23 comments
Closed

Linker error on -ltbb when building with XCode toolchain (vs. CLT) #4

zoercai opened this issue Jul 26, 2015 · 23 comments

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@zoercai
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zoercai commented Jul 26, 2015

Using this to create a clean install of ROS on OS X Yosemite, however I always come across this error:

Starting ==> compressed_depth_image_transport                                                                                                                                                               
Starting ==> compressed_image_transport                                                                                                                                                                     
Starting ==> gazebo_ros                                                                                                                                                                                     
Starting ==> interactive_markers                                                                                                                                                                            

[compressed_depth_image_transport] ==> '/Users/Zoe/indigo_desktop_full_ws/build/compressed_depth_image_transport/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' in '/Users/Zoe/indigo_desktop_full_ws/build/compressed_depth_image_transport'
[ 20%] Built target compressed_depth_image_transport_gencfg
[ 40%] Linking CXX shared library /Users/Zoe/indigo_desktop_full_ws/devel/lib/libcompressed_depth_image_transport.dylib
ld: library not found for -ltbb
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/Zoe/indigo_desktop_full_ws/devel/lib/libcompressed_depth_image_transport.dylib] Error 1
make[1]: *** [CMakeFiles/compressed_depth_image_transport.dir/all] Error 2
make: *** [all] Error 2
[compressed_depth_image_transport] <== '/Users/Zoe/indigo_desktop_full_ws/build/compressed_depth_image_transport/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' failed with return code '2'

Failed   <== compressed_depth_image_transport [ 1.5 seconds ]                                                                                                                                               

[compressed_image_transport] ==> '/Users/Zoe/indigo_desktop_full_ws/build/compressed_image_transport/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' in '/Users/Zoe/indigo_desktop_full_ws/build/compressed_image_transport'
[ 20%] Built target compressed_image_transport_gencfg
[ 40%] Linking CXX shared library /Users/Zoe/indigo_desktop_full_ws/devel/lib/libcompressed_image_transport.dylib
ld: library not found for -ltbb
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/Zoe/indigo_desktop_full_ws/devel/lib/libcompressed_image_transport.dylib] Error 1
make[1]: *** [CMakeFiles/compressed_image_transport.dir/all] Error 2
make: *** [all] Error 2
[compressed_image_transport] <== '/Users/Zoe/indigo_desktop_full_ws/build/compressed_image_transport/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' failed with return code '2'

Failed   <== compressed_image_transport       [ 1.5 seconds ]                                                                                                                                               
Finished <== gazebo_ros                       [ 2.5 seconds ]                                                                                                                                               
Finished <== interactive_markers              [ 3.1 seconds ]                                                                                                                                               
[build] There were '2' errors:                                                                                                                                                                              

Failed to build package 'compressed_depth_image_transport' because the following command:

# Command to reproduce:
cd /Users/Zoe/indigo_desktop_full_ws/build/compressed_depth_image_transport && /Users/Zoe/indigo_desktop_full_ws/build/compressed_depth_image_transport/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j; cd -

# Path to log:
cat /Users/Zoe/indigo_desktop_full_ws/build/build_logs/compressed_depth_image_transport.log

Exited with return code: 2 

Failed to build package 'compressed_image_transport' because the following command:

# Command to reproduce:
cd /Users/Zoe/indigo_desktop_full_ws/build/compressed_image_transport && /Users/Zoe/indigo_desktop_full_ws/build/compressed_image_transport/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j; cd -

# Path to log:
cat /Users/Zoe/indigo_desktop_full_ws/build/build_logs/compressed_image_transport.log

Exited with return code: 2 

[build] Runtime: 8.5 seconds 

How can I resolve this?

@mikepurvis
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Looks like an OpenCV problem. Please post the output of:

brew info opencv

On my machine, it's:

$ brew info opencv
homebrew/science/opencv: stable 2.4.11 (bottled), HEAD
Open source computer vision library
http://opencv.org/
/usr/local/Cellar/opencv/2.4.10.1 (219 files, 39M)
  Built from source with: --with-qt --with-tbb
/usr/local/Cellar/opencv/2.4.11_1 (228 files, 36M) *
  Built from source with: --with-qt --with-tbb
From: https://github.com/homebrew/homebrew-science/blob/master/opencv.rb
==> Dependencies
Build: cmake ✔, pkg-config ✔
Required: jpeg ✔, libpng ✔, libtiff ✔
Recommended: eigen ✔, openexr ✔, homebrew/python/numpy ✔
Optional: gstreamer ✘, jasper ✔, libdc1394 ✘, openni ✘, qt ✔, tbb ✘, ffmpeg ✘

If you previously installed opencv, you may need to manually run:

brew reinstall opencv --with-qt --with-eigen --with-tbb

That should fix this for you. I'd suggest deleting the workspace's build and devel folders and re-running the catkin build from scratch— you may have an ABI incompatibility between stuff that built earlier on and the updated version of OpenCV.

@mikepurvis
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Going to close this for now. Please re-open the ticket if the above suggestions do not resolve the issue.

@zoercai
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zoercai commented Jul 28, 2015

I tried reinstalling opencv and deleting the workspace and rebuilding, but it still came up with the same error. Here's the output of brew info opencv on my machine:

homebrew/science/opencv: stable 2.4.11 (bottled), HEAD
Open source computer vision library
http://opencv.org/
/usr/local/Cellar/opencv/2.4.11_2 (228 files, 35M) *
  Built from source with: --with-qt --with-tbb
From: https://github.com/homebrew/homebrew-science/blob/master/opencv.rb
==> Dependencies
Build: cmake ✔, pkg-config ✔
Required: jpeg ✔, libpng ✔, libtiff ✔
Recommended: eigen ✔, openexr ✔, homebrew/python/numpy ✔
Optional: gstreamer ✘, jasper ✘, libdc1394 ✘, openni ✘, qt ✔, tbb ✔, ffmpeg ✘

@mikepurvis
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Hmm, interesting. In that case, I wonder if you have OpenCV installed some other way, for example from MacPorts, or via the OS X Framework scheme? Please post the output of:

ls /Library/Frameworks
ls /opt/local/lib

@mikepurvis mikepurvis reopened this Jul 28, 2015
@zoercai
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zoercai commented Jul 28, 2015

ls /Library/Frameworks
AEProfiling.framework       NyxAudioAnalysis.framework
AERegistration.framework    PluginManager.framework
Adobe AIR.framework     WacomMultiTouch.framework
AudioMixEngine.framework    iTunesLibrary.framework

ls /opt/local/lib
ls: /opt/local/lib: No such file or directory

@mikepurvis
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Hmm, well. I'm out of immediate ideas. If you're willing to get more in-depth, a possible next step is, from the indigo_desktop_full_ws folder, to run something like:

rm -rf build/compressed_depth_image_transport
catkin build \
    -DCMAKE_BUILD_TYPE=Release \
    -DPYTHON_LIBRARY=$(python -c "import sys; print sys.prefix")/lib/libpython2.7.dylib \
    -DPYTHON_INCLUDE_DIR=$(python -c "import sys; print sys.prefix")/include/python2.7 \
    --make-args VERBOSE=1 \
    --start-with compressed_depth_image_transport

Then report the contents of build/build_logs/compressed_depth_image_transport.log, which will tell us exactly what it is attempting to link against.

@zoercai
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zoercai commented Jul 29, 2015

I've pasted the log here.

And this is the output in the terminal:

indigo_desktop_full_ws Zoe$ catkin build \
>     -DCMAKE_BUILD_TYPE=Release \
>     -DPYTHON_LIBRARY=$(python -c "import sys; print sys.prefix")/lib/libpython2.7.dylib \
>     -DPYTHON_INCLUDE_DIR=$(python -c "import sys; print sys.prefix")/include/python2.7 \
>     --make-args VERBOSE=1 \
>     --start-with compressed_depth_image_transport
--------------------------------------------------------------------------------
Profile:                     default
Extending:                   None
Workspace:                   /Users/Zoe/indigo_desktop_full_ws
Source Space:       [exists] /Users/Zoe/indigo_desktop_full_ws/src
Build Space:        [exists] /Users/Zoe/indigo_desktop_full_ws/build
Devel Space:        [exists] /Users/Zoe/indigo_desktop_full_ws/devel
Install Space:      [exists] /opt/ros/indigo
DESTDIR:                     None
--------------------------------------------------------------------------------
Isolate Develspaces:         False
Install Packages:            True
Isolate Installs:            False
--------------------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release -DPYTHON_LIBRARY=/usr/local/Cellar/python/2.7.10_2/Frameworks/Python.framework/Versions/2.7/lib/libpython2.7.dylib -DPYTHON_INCLUDE_DIR=/usr/local/Cellar/python/2.7.10_2/Frameworks/Python.framework/Versions/2.7/include/python2.7
Additional Make Args:        VERBOSE=1 --start-with compressed_depth_image_transport
Additional catkin Make Args: None
Internal Make Job Server:    True
--------------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------------------------------- 
Found '224' packages in 0.7 seconds. 
Starting ==> catkin                                                             
Starting ==> octomap                                                            
Starting ==> orocos_kdl                                                         
Starting ==> stage                                                              

[octomap] ==> '/Users/Zoe/indigo_desktop_full_ws/build/octomap/build_env.sh /usr/bin/make VERBOSE=1 --start-with compressed_depth_image_transport --jobserver-fds=3,4 -j' in '/Users/Zoe/indigo_desktop_full_ws/build/octomap'
/Applications/Xcode.app/Contents/Developer/usr/bin/make: unrecognized option `--start-with'
Usage: make [options] [target] ...
Options:
  -b, -m                      Ignored for compatibility.
  -B, --always-make           Unconditionally make all targets.
  -C DIRECTORY, --directory=DIRECTORY
                              Change to DIRECTORY before doing anything.
  -d                          Print lots of debugging information.
  --debug[=FLAGS]             Print various types of debugging information.
  -e, --environment-overrides
                              Environment variables override makefiles.
  -f FILE, --file=FILE, --makefile=FILE
                              Read FILE as a makefile.
  -h, --help                  Print this message and exit.
  -i, --ignore-errors         Ignore errors from commands.
  -I DIRECTORY, --include-dir=DIRECTORY
                              Search DIRECTORY for included makefiles.
  -j [N], --jobs[=N]          Allow N jobs at once; infinite jobs with no arg.
  -k, --keep-going            Keep going when some targets can't be made.
  -l [N], --load-average[=N], --max-load[=N]
                              Don't start multiple jobs unless load is below N.
  -L, --check-symlink-times   Use the latest mtime between symlinks and target.
  -n, --just-print, --dry-run, --recon
                              Don't actually run any commands; just print them.
  -o FILE, --old-file=FILE, --assume-old=FILE
                              Consider FILE to be very old and don't remake it.
  -p, --print-data-base       Print make's internal database.
  -q, --question              Run no commands; exit status says if up to date.
  -r, --no-builtin-rules      Disable the built-in implicit rules.
  -R, --no-builtin-variables  Disable the built-in variable settings.
  -s, --silent, --quiet       Don't echo commands.
  -S, --no-keep-going, --stop
                              Turns off -k.
  -t, --touch                 Touch targets instead of remaking them.
  -v, --version               Print the version number of make and exit.
  -w, --print-directory       Print the current directory.
  --no-print-directory        Turn off -w, even if it was turned on implicitly.
  -W FILE, --what-if=FILE, --new-file=FILE, --assume-new=FILE
                              Consider FILE to be infinitely new.
  --warn-undefined-variables  Warn when an undefined variable is referenced.
  -N OPTION, --NeXT-option=OPTION
                              Turn on value of NeXT OPTION.

This program built for i386-apple-darwin11.3.0
Report bugs to <[email protected]>
[octomap] <== '/Users/Zoe/indigo_desktop_full_ws/build/octomap/build_env.sh /usr/bin/make VERBOSE=1 --start-with compressed_depth_image_transport --jobserver-fds=3,4 -j' failed with return code '2'

Failed   <== octomap                          [ 1.0 seconds ]                   

[orocos_kdl] ==> '/Users/Zoe/indigo_desktop_full_ws/build/orocos_kdl/build_env.sh /usr/bin/make VERBOSE=1 --start-with compressed_depth_image_transport --jobserver-fds=3,4 -j' in '/Users/Zoe/indigo_desktop_full_ws/build/orocos_kdl'
/Applications/Xcode.app/Contents/Developer/usr/bin/make: unrecognized option `--start-with'
Usage: make [options] [target] ...
Options:
  -b, -m                      Ignored for compatibility.
  -B, --always-make           Unconditionally make all targets.
  -C DIRECTORY, --directory=DIRECTORY
                              Change to DIRECTORY before doing anything.
  -d                          Print lots of debugging information.
  --debug[=FLAGS]             Print various types of debugging information.
  -e, --environment-overrides
                              Environment variables override makefiles.
  -f FILE, --file=FILE, --makefile=FILE
                              Read FILE as a makefile.
  -h, --help                  Print this message and exit.
  -i, --ignore-errors         Ignore errors from commands.
  -I DIRECTORY, --include-dir=DIRECTORY
                              Search DIRECTORY for included makefiles.
  -j [N], --jobs[=N]          Allow N jobs at once; infinite jobs with no arg.
  -k, --keep-going            Keep going when some targets can't be made.
  -l [N], --load-average[=N], --max-load[=N]
                              Don't start multiple jobs unless load is below N.
  -L, --check-symlink-times   Use the latest mtime between symlinks and target.
  -n, --just-print, --dry-run, --recon
                              Don't actually run any commands; just print them.
  -o FILE, --old-file=FILE, --assume-old=FILE
                              Consider FILE to be very old and don't remake it.
  -p, --print-data-base       Print make's internal database.
  -q, --question              Run no commands; exit status says if up to date.
  -r, --no-builtin-rules      Disable the built-in implicit rules.
  -R, --no-builtin-variables  Disable the built-in variable settings.
  -s, --silent, --quiet       Don't echo commands.
  -S, --no-keep-going, --stop
                              Turns off -k.
  -t, --touch                 Touch targets instead of remaking them.
[orocos_kdl] <== '/Users/Zoe/indigo_desktop_full_ws/build/orocos_kdl/build_env.sh /usr/bin/make VERBOSE=1 --start-with compressed_depth_image_transport --jobserver-fds=3,4 -j' failed with return code '2'

Failed   <== orocos_kdl                       [ 1.3 seconds ]                   

[stage] ==> '/Users/Zoe/indigo_desktop_full_ws/build/stage/build_env.sh /usr/bin/make VERBOSE=1 --start-with compressed_depth_image_transport --jobserver-fds=3,4 -j' in '/Users/Zoe/indigo_desktop_full_ws/build/stage'
/Applications/Xcode.app/Contents/Developer/usr/bin/make: unrecognized option `--start-with'
Usage: make [options] [target] ...
Options:
  -b, -m                      Ignored for compatibility.
  -B, --always-make           Unconditionally make all targets.
  -C DIRECTORY, --directory=DIRECTORY
                              Change to DIRECTORY before doing anything.
  -d                          Print lots of debugging information.
  --debug[=FLAGS]             Print various types of debugging information.
  -e, --environment-overrides
                              Environment variables override makefiles.
  -f FILE, --file=FILE, --makefile=FILE
                              Read FILE as a makefile.
  -h, --help                  Print this message and exit.
  -i, --ignore-errors         Ignore errors from commands.
  -I DIRECTORY, --include-dir=DIRECTORY
                              Search DIRECTORY for included makefiles.
  -j [N], --jobs[=N]          Allow N jobs at once; infinite jobs with no arg.
  -k, --keep-going            Keep going when some targets can't be made.
  -l [N], --load-average[=N], --max-load[=N]
                              Don't start multiple jobs unless load is below N.
  -L, --check-symlink-times   Use the latest mtime between symlinks and target.
  -n, --just-print, --dry-run, --recon
                              Don't actually run any commands; just print them.
  -o FILE, --old-file=FILE, --assume-old=FILE
                              Consider FILE to be very old and don't remake it.
  -p, --print-data-base       Print make's internal database.
  -q, --question              Run no commands; exit status says if up to date.
  -r, --no-builtin-rules      Disable the built-in implicit rules.
  -R, --no-builtin-variables  Disable the built-in variable settings.
  -s, --silent, --quiet       Don't echo commands.
  -S, --no-keep-going, --stop
                              Turns off -k.
  -t, --touch                 Touch targets instead of remaking them.
  -v, --version               Print the version number of make and exit.
  -w, --print-directory       Print the current directory.
  --no-print-directory        Turn off -w, even if it was turned on implicitly.
  -W FILE, --what-if=FILE, --new-file=FILE, --assume-new=FILE
                              Consider FILE to be infinitely new.
  --warn-undefined-variables  Warn when an undefined variable is referenced.
  -N OPTION, --NeXT-option=OPTION
                              Turn on value of NeXT OPTION.

This program built for i386-apple-darwin11.3.0
Report bugs to <[email protected]>
[stage] <== '/Users/Zoe/indigo_desktop_full_ws/build/stage/build_env.sh /usr/bin/make VERBOSE=1 --start-with compressed_depth_image_transport --jobserver-fds=3,4 -j' failed with return code '2'

Failed   <== stage                            [ 1.6 seconds ]                   

[catkin] ==> '/Users/Zoe/indigo_desktop_full_ws/build/catkin/build_env.sh /usr/bin/make VERBOSE=1 --start-with compressed_depth_image_transport --jobserver-fds=3,4 -j' in '/Users/Zoe/indigo_desktop_full_ws/build/catkin'
/Applications/Xcode.app/Contents/Developer/usr/bin/make: unrecognized option `--start-with'
Usage: make [options] [target] ...
Options:
  -b, -m                      Ignored for compatibility.
  -B, --always-make           Unconditionally make all targets.
  -C DIRECTORY, --directory=DIRECTORY
                              Change to DIRECTORY before doing anything.
  -d                          Print lots of debugging information.
  --debug[=FLAGS]             Print various types of debugging information.
  -e, --environment-overrides
                              Environment variables override makefiles.
  -f FILE, --file=FILE, --makefile=FILE
                              Read FILE as a makefile.
  -h, --help                  Print this message and exit.
  -i, --ignore-errors         Ignore errors from commands.
  -I DIRECTORY, --include-dir=DIRECTORY
                              Search DIRECTORY for included makefiles.
  -j [N], --jobs[=N]          Allow N jobs at once; infinite jobs with no arg.
  -k, --keep-going            Keep going when some targets can't be made.
  -l [N], --load-average[=N], --max-load[=N]
                              Don't start multiple jobs unless load is below N.
  -L, --check-symlink-times   Use the latest mtime between symlinks and target.
  -n, --just-print, --dry-run, --recon
                              Don't actually run any commands; just print them.
  -o FILE, --old-file=FILE, --assume-old=FILE
                              Consider FILE to be very old and don't remake it.
  -p, --print-data-base       Print make's internal database.
  -q, --question              Run no commands; exit status says if up to date.
  -r, --no-builtin-rules      Disable the built-in implicit rules.
  -R, --no-builtin-variables  Disable the built-in variable settings.
  -s, --silent, --quiet       Don't echo commands.
  -S, --no-keep-going, --stop
                              Turns off -k.
  -t, --touch                 Touch targets instead of remaking them.
  -v, --version               Print the version number of make and exit.
  -w, --print-directory       Print the current directory.
  --no-print-directory        Turn off -w, even if it was turned on implicitly.
  -W FILE, --what-if=FILE, --new-file=FILE, --assume-new=FILE
                              Consider FILE to be infinitely new.
  --warn-undefined-variables  Warn when an undefined variable is referenced.
  -N OPTION, --NeXT-option=OPTION
                              Turn on value of NeXT OPTION.

This program built for i386-apple-darwin11.3.0
Report bugs to <[email protected]>
[catkin] <== '/Users/Zoe/indigo_desktop_full_ws/build/catkin/build_env.sh /usr/bin/make VERBOSE=1 --start-with compressed_depth_image_transport --jobserver-fds=3,4 -j' failed with return code '2'

Failed   <== catkin                           [ 1.8 seconds ]                   
[build] Runtime: 6.2 seconds 
Traceback (most recent call last):
  File "/usr/local/bin/catkin", line 11, in <module>
    sys.exit(main())
  File "/usr/local/lib/python2.7/site-packages/catkin_tools/commands/catkin.py", line 219, in main
    sys.exit(args.main(args) or 0)
  File "/usr/local/lib/python2.7/site-packages/catkin_tools/verbs/catkin_build/cli.py", line 296, in main
    summarize_build=opts.summarize  # Can be True, False, or None
  File "/usr/local/lib/python2.7/site-packages/catkin_tools/verbs/catkin_build/build.py", line 756, in build_isolated_workspace
    set_error_state(error_state)
  File "/usr/local/lib/python2.7/site-packages/catkin_tools/verbs/catkin_build/build.py", line 695, in set_error_state
    executors[x].should_shutdown = True
KeyError: 1
wifi-172-23-110-22:indigo_desktop_full_ws Zoe$ make --version
GNU Make 3.81
Copyright (C) 2006  Free Software Foundation, Inc.
This is free software; see the source for copying conditions.
There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A
PARTICULAR PURPOSE.

Can you spot anything unusual?

@mikepurvis
Copy link
Owner

Blah, it didn't do the right thing. Please try:

rm -rf build/compressed_depth_image_transport
catkin build \
    -DCMAKE_BUILD_TYPE=Release \
    -DPYTHON_LIBRARY=$(python -c "import sys; print sys.prefix")/lib/libpython2.7.dylib \
    -DPYTHON_INCLUDE_DIR=$(python -c "import sys; print sys.prefix")/include/python2.7 \
    --start-with compressed_depth_image_transport \
    --make-args VERBOSE=1

That should get us verbose make output, which will show that paths that it is trying to link against. Sorry for the runaround.

@zoercai
Copy link
Author

zoercai commented Jul 30, 2015

All good! Here's the new log

And the output in terminal:

indigo_desktop_full_ws Zoe$ catkin build \
>     -DCMAKE_BUILD_TYPE=Release \
>     -DPYTHON_LIBRARY=$(python -c "import sys; print sys.prefix")/lib/libpython2.7.dylib \
>     -DPYTHON_INCLUDE_DIR=$(python -c "import sys; print sys.prefix")/include/python2.7 \
>     --start-with compressed_depth_image_transport \
>     --make-args VERBOSE=1
--------------------------------------------------------------------------------
Profile:                     default
Extending:                   None
Workspace:                   /Users/Zoe/indigo_desktop_full_ws
Source Space:       [exists] /Users/Zoe/indigo_desktop_full_ws/src
Build Space:        [exists] /Users/Zoe/indigo_desktop_full_ws/build
Devel Space:        [exists] /Users/Zoe/indigo_desktop_full_ws/devel
Install Space:      [exists] /opt/ros/indigo
DESTDIR:                     None
--------------------------------------------------------------------------------
Isolate Develspaces:         False
Install Packages:            True
Isolate Installs:            False
--------------------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release -DPYTHON_LIBRARY=/usr/local/Cellar/python/2.7.10_2/Frameworks/Python.framework/Versions/2.7/lib/libpython2.7.dylib -DPYTHON_INCLUDE_DIR=/usr/local/Cellar/python/2.7.10_2/Frameworks/Python.framework/Versions/2.7/include/python2.7
Additional Make Args:        VERBOSE=1
Additional catkin Make Args: None
Internal Make Job Server:    True
--------------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------------------------------- 
Found '224' packages in 0.6 seconds. 
[build] Skipping package 'catkin'                                                                                                                                                   
[build] Skipping package 'octomap'                                                                                                                                                  
[build] Skipping package 'orocos_kdl'                                                                                                                                               
[build] Skipping package 'stage'                                                                                                                                                    
[build] Skipping package 'genmsg'                                                                                                                                                   
[build] Skipping package 'angles'                                                                                                                                                   
[build] Skipping package 'bond_core'                                                                                                                                                
[build] Skipping package 'cmake_modules'                                                                                                                                            
[build] Skipping package 'common_msgs'                                                                                                                                              
[build] Skipping package 'common_tutorials'                                                                                                                                         
[build] Skipping package 'convex_decomposition'                                                                                                                                     
[build] Skipping package 'cpp_common'                                                                                                                                               
[build] Skipping package 'desktop'                                                                                                                                                  
[build] Skipping package 'desktop_full'                                                                                                                                             
[build] Skipping package 'diagnostics'                                                                                                                                              
[build] Skipping package 'eigen_stl_containers'                                                                                                                                     
[build] Skipping package 'executive_smach'                                                                                                                                          
[build] Skipping package 'gazebo_ros_pkgs'                                                                                                                                          
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Starting ==> compressed_depth_image_transport                                                                                                                                       
Starting ==> compressed_image_transport                                                                                                                                             
Starting ==> gazebo_ros                                                                                                                                                             
Starting ==> interactive_markers                                                                                                                                                    

[compressed_image_transport] ==> '/Users/Zoe/indigo_desktop_full_ws/build/compressed_image_transport/build_env.sh /usr/bin/make VERBOSE=1 --jobserver-fds=3,4 -j' in '/Users/Zoe/indigo_desktop_full_ws/build/compressed_image_transport'
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ld: library not found for -ltbb
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make[2]: *** [/Users/Zoe/indigo_desktop_full_ws/devel/lib/libcompressed_image_transport.dylib] Error 1
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[compressed_image_transport] <== '/Users/Zoe/indigo_desktop_full_ws/build/compressed_image_transport/build_env.sh /usr/bin/make VERBOSE=1 --jobserver-fds=3,4 -j' failed with return code '2'

Failed   <== compressed_image_transport       [ 38.5 seconds ]                                                                                                                      

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/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++   -DROSCONSOLE_BACKEND_LOG4CXX -DROS_PACKAGE_NAME=\"compressed_depth_image_transport\" -Dcompressed_depth_image_transport_EXPORTS -O3 -DNDEBUG -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.10.sdk -fPIC -I/Users/Zoe/indigo_desktop_full_ws/devel/include -isystem /usr/local/include/opencv -isystem /usr/local/include -I/Users/Zoe/indigo_desktop_full_ws/src/image_transport_plugins/compressed_depth_image_transport/include -I/Users/Zoe/indigo_desktop_full_ws/devel/include/ros -I/Users/Zoe/indigo_desktop_full_ws/src/roscpp_core/cpp_common/include -I/Users/Zoe/indigo_desktop_full_ws/src/roscpp_core/roscpp_traits/include -I/Users/Zoe/indigo_desktop_full_ws/src/class_loader/include -I/Users/Zoe/indigo_desktop_full_ws/src/roscpp_core/rostime/include -I/Users/Zoe/indigo_desktop_full_ws/src/ros_comm/xmlrpcpp/include -I/Users/Zoe/indigo_desktop_full_ws/src/ros/roslib/include -I/Users/Zoe/indigo_desktop_full_ws/src/roscpp_core/roscpp_serialization/include -I/Users/Zoe/indigo_desktop_full_ws/src/ros_comm/rosconsole/include -I/Users/Zoe/indigo_desktop_full_ws/src/std_msgs/include -I/Users/Zoe/indigo_desktop_full_ws/src/common_msgs/sensor_msgs/include -I/Users/Zoe/indigo_desktop_full_ws/src/geometry_experimental/tf2_msgs/include -I/Users/Zoe/indigo_desktop_full_ws/src/ros_comm/roscpp/include -I/Users/Zoe/indigo_desktop_full_ws/src/geometry_experimental/tf2/include -I/Users/Zoe/indigo_desktop_full_ws/src/pluginlib/include -I/Users/Zoe/indigo_desktop_full_ws/src/dynamic_reconfigure/include -I/Users/Zoe/indigo_desktop_full_ws/src/ros_comm/message_filters/include -I/Users/Zoe/indigo_desktop_full_ws/src/image_common/image_transport/include -I/Users/Zoe/indigo_desktop_full_ws/src/vision_opencv/cv_bridge/include -I/Users/Zoe/indigo_desktop_full_ws/src/actionlib/include -I/Users/Zoe/indigo_desktop_full_ws/src/geometry_experimental/tf2_ros/include -I/Users/Zoe/indigo_desktop_full_ws/src/geometry/tf/include -I/usr/local/Cellar/console_bridge/0.2.5/include    -o CMakeFiles/compressed_depth_image_transport.dir/src/manifest.cpp.o -c /Users/Zoe/indigo_desktop_full_ws/src/image_transport_plugins/compressed_depth_image_transport/src/manifest.cpp
[100%] Linking CXX shared library /Users/Zoe/indigo_desktop_full_ws/devel/lib/libcompressed_depth_image_transport.dylib
/usr/local/Cellar/cmake/3.3.0/bin/cmake -E cmake_link_script CMakeFiles/compressed_depth_image_transport.dir/link.txt --verbose=1
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++  -O3 -DNDEBUG -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.10.sdk -dynamiclib -Wl,-headerpad_max_install_names  -o /Users/Zoe/indigo_desktop_full_ws/devel/lib/libcompressed_depth_image_transport.dylib -install_name /Users/Zoe/indigo_desktop_full_ws/devel/lib/libcompressed_depth_image_transport.dylib CMakeFiles/compressed_depth_image_transport.dir/src/compressed_depth_publisher.cpp.o CMakeFiles/compressed_depth_image_transport.dir/src/compressed_depth_subscriber.cpp.o CMakeFiles/compressed_depth_image_transport.dir/src/manifest.cpp.o /Users/Zoe/indigo_desktop_full_ws/devel/lib/libcv_bridge.dylib /usr/local/lib/libopencv_videostab.2.4.11.dylib /usr/local/lib/libopencv_video.2.4.11.dylib /usr/local/lib/libopencv_superres.2.4.11.dylib /usr/local/lib/libopencv_stitching.2.4.11.dylib /usr/local/lib/libopencv_photo.2.4.11.dylib /usr/local/lib/libopencv_ocl.2.4.11.dylib /usr/local/lib/libopencv_objdetect.2.4.11.dylib /usr/local/lib/libopencv_nonfree.2.4.11.dylib /usr/local/lib/libopencv_ml.2.4.11.dylib /usr/local/lib/libopencv_legacy.2.4.11.dylib /usr/local/lib/libopencv_imgproc.2.4.11.dylib /usr/local/lib/libopencv_highgui.2.4.11.dylib /usr/local/lib/libopencv_gpu.2.4.11.dylib /usr/local/lib/libopencv_flann.2.4.11.dylib /usr/local/lib/libopencv_features2d.2.4.11.dylib /usr/local/lib/libopencv_core.2.4.11.dylib /usr/local/lib/libopencv_contrib.2.4.11.dylib /usr/local/lib/libopencv_calib3d.2.4.11.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/libdynamic_reconfigure_config_init_mutex.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/libimage_transport.dylib /usr/local/lib/libtinyxml.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/libclass_loader.dylib /usr/local/lib/libPocoFoundation.dylib /usr/lib/libdl.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/libroslib.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/libtf.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/libtf2_ros.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/libactionlib.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/libmessage_filters.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/libroscpp.dylib /usr/local/lib/libboost_signals-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/libxmlrpcpp.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/libtf2.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/libroscpp_serialization.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/librosconsole.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/librosconsole_log4cxx.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/librosconsole_backend_interface.dylib /usr/local/lib/liblog4cxx.dylib /usr/local/lib/libboost_regex-mt.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/librostime.dylib /usr/local/lib/libboost_date_time-mt.dylib /Users/Zoe/indigo_desktop_full_ws/devel/lib/libcpp_common.dylib /usr/local/lib/libboost_system-mt.dylib /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libconsole_bridge.dylib /usr/local/lib/libopencv_videostab.2.4.11.dylib /usr/local/lib/libopencv_ts.a /usr/local/lib/libopencv_superres.2.4.11.dylib /usr/local/lib/libopencv_stitching.2.4.11.dylib /usr/local/lib/libopencv_contrib.2.4.11.dylib -ltbb /usr/local/lib/libopencv_nonfree.2.4.11.dylib /usr/local/lib/libopencv_ocl.2.4.11.dylib /usr/local/lib/libopencv_gpu.2.4.11.dylib /usr/local/lib/libopencv_photo.2.4.11.dylib /usr/local/lib/libopencv_objdetect.2.4.11.dylib /usr/local/lib/libopencv_legacy.2.4.11.dylib /usr/local/lib/libopencv_video.2.4.11.dylib /usr/local/lib/libopencv_ml.2.4.11.dylib /usr/local/lib/libopencv_calib3d.2.4.11.dylib /usr/local/lib/libopencv_features2d.2.4.11.dylib /usr/local/lib/libopencv_highgui.2.4.11.dylib /usr/local/lib/libopencv_imgproc.2.4.11.dylib /usr/local/lib/libopencv_flann.2.4.11.dylib /usr/local/lib/libopencv_core.2.4.11.dylib 
ld: library not found for -ltbb
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/Zoe/indigo_desktop_full_ws/devel/lib/libcompressed_depth_image_transport.dylib] Error 1
make[1]: *** [CMakeFiles/compressed_depth_image_transport.dir/all] Error 2
make: *** [all] Error 2
[compressed_depth_image_transport] <== '/Users/Zoe/indigo_desktop_full_ws/build/compressed_depth_image_transport/build_env.sh /usr/bin/make VERBOSE=1 --jobserver-fds=3,4 -j' failed with return code '2'

Failed   <== compressed_depth_image_transport [ 39.9 seconds ]                                                                                                                      
[build] Runtime: 46.1 seconds 
Traceback (most recent call last):
  File "/usr/local/bin/catkin", line 11, in <module>
    sys.exit(main())
  File "/usr/local/lib/python2.7/site-packages/catkin_tools/commands/catkin.py", line 219, in main
    sys.exit(args.main(args) or 0)
  File "/usr/local/lib/python2.7/site-packages/catkin_tools/verbs/catkin_build/cli.py", line 296, in main
    summarize_build=opts.summarize  # Can be True, False, or None
  File "/usr/local/lib/python2.7/site-packages/catkin_tools/verbs/catkin_build/build.py", line 756, in build_isolated_workspace
    set_error_state(error_state)
  File "/usr/local/lib/python2.7/site-packages/catkin_tools/verbs/catkin_build/build.py", line 695, in set_error_state
    executors[x].should_shutdown = True
KeyError: 1

@mikepurvis
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Bizarre; it's definitely looking for it in the standard location. On my machine this is here:

$ ls -la /usr/local/lib/libopencv_ocl.2.4.11.dylib /usr/local/lib/libtbb*
lrwxr-xr-x  1 mikepurvis  admin  56  5 Jun 11:00 /usr/local/lib/libopencv_ocl.2.4.11.dylib -> ../Cellar/opencv/2.4.11_1/lib/libopencv_ocl.2.4.11.dylib
lrwxr-xr-x  1 mikepurvis  admin  43  5 Jun 10:31 /usr/local/lib/libtbb.dylib -> ../Cellar/tbb/4.3-20150424/lib/libtbb.dylib
lrwxr-xr-x  1 mikepurvis  admin  49  5 Jun 10:31 /usr/local/lib/libtbbmalloc.dylib -> ../Cellar/tbb/4.3-20150424/lib/libtbbmalloc.dylib
lrwxr-xr-x  1 mikepurvis  admin  55  5 Jun 10:31 /usr/local/lib/libtbbmalloc_proxy.dylib -> ../Cellar/tbb/4.3-20150424/lib/libtbbmalloc_proxy.dylib

And this is the version of that homebrew package which is installed:

$ brew info tbb
tbb: stable 4.3-20150611 (bottled)
A rich and complete approach to parallelism in C++
https://www.threadingbuildingblocks.org/
/usr/local/Cellar/tbb/4.3-20141023 (104 files, 1.9M)
  Poured from bottle
/usr/local/Cellar/tbb/4.3-20150424 (106 files, 1.9M) *
  Poured from bottle
From: https://github.com/Homebrew/homebrew/blob/master/Library/Formula/tbb.rb
==> Options
--c++11
    Build using C++11 mode

Perhaps opencv was a red herring. Have you tried:

brew unlink tbb
brew install tbb

@zoercai
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zoercai commented Jul 31, 2015

Yep my output for both location & homebrew version are similar to yours. I tried brew unlink tbb, brew install tbb, as well as brew link tbb, but it made no difference 😞

Can you think of anything else that might be causing the problem?

@mikepurvis
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I'm afraid I'm out of ideas here. If you're really committed to this, you could try the nuclear option of removing your homebrew installation and starting over from scratch.

However, I understand that @wjwwood and @j-rivero are in the process of setting up a CI job to check the process for regressions on a daily basis— it may be worth waiting until that is complete so you have the confidence of knowing that at least it's working on a clean-room environment (though I have received feedback from others that this procedure worked for them, and it did also work for me a few weeks ago on a clean Parallels OS X VM).

@zoercai
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zoercai commented Aug 6, 2015

I've tried removing homebrew and doing a clean install of ROS by following both your instructions in README.md as well as the ones here, unfortunately neither worked. Are the instructions missing anything that should be removed for a clean install?

If not, I will wait for the CI. Where can I check its progress?

@mikepurvis
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@zoercai Not sure what the timeline is on the CI being set up, but I ran the install again last night on a clean Yosemite VM via Parallels, and got a successful build of desktop_full for indigo.

@zoercai
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zoercai commented Aug 13, 2015

Ok I will try a clean install again.

@mockbot
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mockbot commented Aug 18, 2015

Sorry, I have the same problem at my MacBookPro OSX 10.10.5.
A complete fresh install without ros-history-tries works perfectly at my old iMac OSX 10.10.5.

There must be any drawback with already installed homebrew from the past.

@mikepurvis
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It sounds like @zoercai has tried with a completely clean Homebrew/pip installation, so that suggests that the problem is with something installed outside of Homebrew. The main area where I've found problems there is with Frameworks that overlap Homebrew packages, but at least in Zoe's case, there didn't seem to be any installed.

So there's something pre-existing on your machines that's messing up the process at this particular point, but it's not at all clear to me what it is.

@mikepurvis
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This is a long shot, but one thing I noticed is that @zoercai is using the c++ that's inside Xcode.app, whereas I am using the one from CLT. I have:

/Library/Developer/CommandLineTools/usr/bin/c++  -O3 -DNDEBUG -dynamiclib -Wl,-headerpad_max_install_names 

Versus:

/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++  -O3 -DNDEBUG -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.10.sdk -dynamiclib -Wl,-headerpad_max_install_names

@mockbot, any chance you're using the Xcode compiler as well?

@kitizz
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kitizz commented Sep 1, 2015

I'm getting the same error - I'm also using the XCode C++:

/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++  -O3 -DNDEBUG -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.10.sdk -dynamiclib -Wl,-headerpad_max_install_names

@joe-bartels
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I tried using the script on a fresh install of Yosemite with only XCode installed and received the same error described by this issue. After reading this, I then installed CLT and restarted the script. With CLT installed, the error went away and the script finished successfully.

@mikepurvis mikepurvis changed the title ld: library not found for -ltbb Linker error on -ltbb when building with XCode toolchain (vs. CLT) Sep 1, 2015
@mikepurvis
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Interesting, thanks very much for trying this so thoroughly. I have little experience with the full XCode bundle, unfortunately, but is it possible to install the command-line tools at the same time?

In any case, the real fix is correcting the FindTBB module. I've raised a ticket to that effect here:

ros/cmake_modules#37

@kitizz
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kitizz commented Sep 2, 2015

Sweet, did as @jbartels2006 said. Works as a quick fix for now. For completeness, I had to do a little more after installing CLT with:

$ xcode-select --install
<follow prompts>

Afterwards, when I entered this I got the following (it should be /Library/Developer/CommandLineTools):

$ xcode-select -p
/Applications/Xcode.app/Contents/Developer

$ gcc --version
Configured with: --prefix=/Applications/Xcode.app/Contents/Developer/usr --with-gxx-include-dir=/usr/include/c++/4.2.1
...

I needed to run:

sudo xcode-select -s /Library/Developer/CommandLineTools

I reran the install script and everything seems dandy.

@spmaniato
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For future reference, after switching to the CommandLineTools as described above, you don't have to rerun the entire install script. I believe that the following is enough:

rm -rf /opt/ros/indigo/* # More generally, /opt/ros/${ROS_DISTRO}/*
rm -rf build/ devel/ # Assuming your working dir is the catkin workspace
catkin build \ 
  ... # See actual script for the 4-line-long command

It just saves a couple of minutes since the install script does a bunch of other things before it gets to build / install.

PS. Also, you can probably "make clean" only the two problematic packages. Haven't tested that.

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