I am working on a C++ project with drake, using bazel as the build system. Previously, I use the drake source code as the external, following the drake_bazel_external example. Everything works fine.
Since I want to use the SNOPT solver in drake, I want to change to use the pre-compiled drake. I follow the drake_bazel_installed example. However, I got the following errors.
Compiling kuka/diffIK_controller.cc failed: (Exit 1): gcc failed: error executing command /usr/bin/gcc -U_FORTIFY_SOURCE -fstack-protector -Wall -Wunused-but-set-parameter -Wno-free-nonheap-object -fno-omit-frame-pointer -g0 -O2 '-D_FORTIFY_SOURCE=1' -DNDEBUG -ffunction-sections ... (remaining 27 arguments skipped)
Use --sandbox_debug to see verbose messages from the sandbox
In file included from bazel-out/k8-opt/bin/external/drake/_virtual_includes/.drake_headers/drake/common/default_scalars.h:3,
from bazel-out/k8-opt/bin/external/drake/_virtual_includes/.drake_headers/drake/systems/framework/leaf_system.h:14,
from ./kuka/diffIK_controller.h:3,
from kuka/diffIK_controller.cc:3:
bazel-out/k8-opt/bin/external/drake/_virtual_includes/.drake_headers/drake/common/autodiff.h:12:10: fatal error: Eigen/Core: No such file or directory
12 | #include <Eigen/Core>
| ^~~~~~~~~~~~
compilation terminated.
I also find that the apps in the drake_bazel_external cannot be compiled successfully by drake_bazel_installed setting. The error message is
ERROR: error loading package 'app': Label '@drake//tools/skylark:py.bzl' is invalid because 'tools/skylark' is not a package; perhaps you meant to put the colon here: '@drake//:tools/skylark/py.bzl'?
Update
The bug can be produced by both the http_archive fetched drake and the apt installed drake (the latest stable drake I think, since I just installed it yesterday). I have isolated the relevant code to reproduce the bug in a github repo. Currently, I can get the original apps in drake_bazel_installed to work.
Update
By adding
# solve the eigen not found bug
build --cxxopt=-I/usr/include/eigen3
to the .bazelrc file, I can solve the above problem. However, when I try to build a program that uses iiwa_status_receiver.h, I encounter a new problem.
ERROR: /home/chenwang/repro_drake_bazel_external/drake_bazel_installed/apps/BUILD.bazel:102:10: Compiling apps/connection_test.cc failed: (Exit 1): gcc failed: error executing command /usr/bin/gcc -U_FORTIFY_SOURCE -fstack-protector -Wall -Wunused-but-set-parameter -Wno-free-nonheap-object -fno-omit-frame-pointer -g0 -O2 '-D_FORTIFY_SOURCE=1' -DNDEBUG -ffunction-sections ... (remaining 32 arguments skipped)
Use --sandbox_debug to see verbose messages from the sandbox and retain the sandbox build root for debugging
In file included from apps/connection_test.cc:10:
bazel-out/k8-opt/bin/external/drake/_virtual_includes/.drake_headers/drake/manipulation/kuka_iiwa/iiwa_status_receiver.h:6:10: fatal error: drake/lcmt_iiwa_status.hpp: No such file or directory
6 | #include "drake/lcmt_iiwa_status.hpp"
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
INFO: Elapsed time: 2.967s, Critical Path: 0.24s
INFO: 2 processes: 2 internal.
FAILED: Build did NOT complete successfully
This problem is also a missing header file problem. I have update the github repo to reproduce this problem.
This is a bug in Drake (filed as https://github.com/RobotLocomotion/drake/issues/17965 now).
To work around it, pass --cxxopt=-I/usr/include/eigen3 on all of your bazel commands, e.g., by adding this line to your projects' .bazelrc file:
build --cxxopt=-I/usr/include/eigen3
Edit: The nightly builds of Apt packages as of 20220923 should have this fixed as well.