ros-jazzy-nav2-route build failing to compile on osx-arm64 and osx-64 platforms.

[TedVanderfeen]

Bug report

Required Info:

• Operating System:
  • osx-arm64 & osx-64
• Computer:
  • MacBook Pro M4 Pro
• ROS2 Version:
  • Jazzy - Using Robostack/Pixi
• Version or commit hash:
  • ros-jazzy-nav2-route - 1.3.9
• DDS implementation:
  • FAST-RTPS

Steps to reproduce issue

Be using an osx-arm64 or osx-64 device with pixi installed
git clone https://github.com/RoboStack/ros-jazzy.git
cd ros-jazzy
pixi run build

Expected behavior

Code compiles on these platforms

Actual behavior

build fails with:

FAILED: [code=1] CMakeFiles/route_server_core.dir/src/route_server.cpp.o 
 │ │ $BUILD_PREFIX/bin/arm64-apple-darwin20.0.0-clang++ -DDEFAULT_RMW_IMPLEMENTATION=rmw_fastrtps_cpp -DFASTCDR_DYN_LINK -DTINYXML2_IMPORT -D_FILE_OFFSET_BITS=64 -Droute_server_core_EXPORTS -I$SRC_DIR/ros-jazzy-nav2-route/src/work/include -isystem $PREFIX/include/rclcpp -isystem $PREFIX/include/rclcpp_action -isystem $PREFIX/include/rclcpp_components -isystem $PREFIX/include/nav2_costmap_2d -isystem $PREFIX/include/nav2_msgs -isystem $PREFIX/include/python3.12 -isystem $PREFIX/lib/python3.12/site-packages/numpy/core/include -isystem $PREFIX/include/nav2_util -isystem $PREFIX/include/pluginlib -isystem $PREFIX/include/rcl_interfaces -isystem $PREFIX/include/geometry_msgs -isystem $PREFIX/include/visualization_msgs -isystem $PREFIX/include/std_msgs -isystem $PREFIX/include/nav_msgs -isystem $PREFIX/include/tf2_ros -isystem $PREFIX/include/tf2 -isystem $PREFIX/include/angles -isystem $PREFIX/include/rclcpp_lifecycle -isystem $PREFIX/include/sensor_msgs -isystem $PREFIX/include/tf2_geometry_msgs -isystem $PREFIX/include/std_srvs -isystem $PREFIX/include/builtin_interfaces -isystem $PREFIX/include/rosidl_runtime_c -isystem $PREFIX/include/rcutils -isystem $PREFIX/include/rosidl_typesupport_interface -isystem $PREFIX/include/rosidl_runtime_cpp -isystem $PREFIX/include/rosidl_typesupport_fastrtps_cpp -isystem $PREFIX/include/rmw -isystem $PREFIX/include/rosidl_dynamic_typesupport -isystem $PREFIX/include/rosidl_typesupport_fastrtps_c -isystem $PREFIX/include/rosidl_typesupport_introspection_c -isystem $PREFIX/include/rosidl_typesupport_introspection_cpp -isystem $PREFIX/include/libstatistics_collector -isystem $PREFIX/include/rcl -isystem $PREFIX/include/service_msgs -isystem $PREFIX/include/rcl_logging_interface -isystem $PREFIX/include/rcl_yaml_param_parser -isystem $PREFIX/include/type_description_interfaces -isystem $PREFIX/include/rcpputils -isystem $PREFIX/include/statistics_msgs -isystem $PREFIX/include/rosgraph_msgs -isystem $PREFIX/include/rosidl_typesupport_cpp -isystem $PREFIX/include/rosidl_typesupport_c -isystem $PREFIX/include/tracetools -isystem $PREFIX/include/action_msgs -isystem $PREFIX/include/unique_identifier_msgs -isystem $PREFIX/include/rcl_action -isystem $PREFIX/include/class_loader -isystem $PREFIX/include/composition_interfaces -isystem $PREFIX/include/laser_geometry -isystem $PREFIX/include/eigen3 -isystem $PREFIX/include/map_msgs -isystem $PREFIX/include/message_filters -isystem $PREFIX/include/geographic_msgs -isystem $PREFIX/include/bondcpp -isystem $PREFIX/include/bond -isystem $PREFIX/include/lifecycle_msgs -isystem $PREFIX/include/rcl_lifecycle -isystem $PREFIX/include/smclib -isystem $PREFIX/include/tf2_msgs -isystem $PREFIX/include/ament_index_cpp -isystem $PREFIX/include/tf2_sensor_msgs -ftree-vectorize -fPIC -fstack-protector-strong -O2 -pipe -stdlib=libc++ -fvisibility-inlines-hidden -fmessage-length=0 -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/ros-jazzy-nav2-route-1.3.9 -fdebug-prefix-map=$PREFIX=/usr/local/src/conda-prefix -O3 -DNDEBUG -std=gnu++17 -arch arm64 -isysroot /Applications/Xcode_15.4.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk -mmacosx-version-min=10.15 -fPIC -Wall -Wextra -Wpedantic -Wdeprecated -fPIC -Wshadow -Wnull-dereference -Wnon-virtual-dtor -MD -MT CMakeFiles/route_server_core.dir/src/route_server.cpp.o -MF CMakeFiles/route_server_core.dir/src/route_server.cpp.o.d -o CMakeFiles/route_server_core.dir/src/route_server.cpp.o -c $SRC_DIR/ros-jazzy-nav2-route/src/work/src/route_server.cpp
 │ │ In file included from $SRC_DIR/ros-jazzy-nav2-route/src/work/src/route_server.cpp:15:
 │ │ $SRC_DIR/ros-jazzy-nav2-route/src/work/include/nav2_route/route_server.hpp:132:22: error: non-const lvalue reference to type 'ReroutingState' cannot bind to a temporary of type 'ReroutingState'
 │ │   132 |     ReroutingState & rerouting_info = ReroutingState());
 │ │       |                      ^                ~~~~~~~~~~~~~~~~
 │ │ $SRC_DIR/ros-jazzy-nav2-route/src/work/include/nav2_route/route_server.hpp:132:22: note: passing argument to parameter 'rerouting_info' here
 │ │ 1 error generated.
 │ │ [6/33] Building CXX object CMakeFiles/route_server_core.dir/src/node_spatial_tree.cpp.o
 │ │ [7/33] Building CXX object CMakeFiles/route_server_core.dir/src/path_converter.cpp.o
 │ │ [8/33] Building CXX object CMakeFiles/route_server_core.dir/src/graph_loader.cpp.o
 │ │ [9/33] Building CXX object CMakeFiles/route_server_core.dir/src/graph_saver.cpp.o
 │ │ ninja: build stopped: subcommand failed.
 │ │ × error Script failed with status 1
 │ │ × error 
 │ │ × error Script execution failed.
 │ │ × error 
 │ │ × error   Work directory: /Users/runner/work/ros-jazzy/ros-jazzy/output/bld/rattler-build_ros-jazzy-nav2-route_1761621397/work
 │ │ × error   Prefix: /Users/runner/work/ros-jazzy/ros-jazzy/output/bld/rattler-build_ros-jazzy-nav2-route_1761621397/host_env_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_placehold_
 │ │ × error   Build prefix: /Users/runner/work/ros-jazzy/ros-jazzy/output/bld/rattler-build_ros-jazzy-nav2-route_1761621397/build_env
 │ │ × error 
 │ │ × error To run the script manually, use the following command:
 │ │ × error 
 │ │ × error   cd "/Users/runner/work/ros-jazzy/ros-jazzy/output/bld/rattler-build_ros-jazzy-nav2-route_1761621397/work" && ./conda_build.sh
 │ │ × error 
 │ │ × error To run commands interactively in the build environment:
 │ │ × error 
 │ │ × error   cd "/Users/runner/work/ros-jazzy/ros-jazzy/output/bld/rattler-build_ros-jazzy-nav2-route_1761621397/work" && source build_env.sh

Reproduction instructions

as above

Additional information

More information in the CI failure we're having here: RoboStack/ros-jazzy#114
Issue is tracked here: RoboStack/ros-jazzy#115

[TedVanderfeen]

Any and all help here would be appreciated. ChatGPT tells me:

You can’t bind a temporary to a non-const lvalue reference, so this won’t compile portably (and would be a dangling ref even if it did). Make it one of:
	•	ReroutingState rerouting_info = {}; (pass by value), or
	•	ReroutingState* rerouting_info = nullptr (pointer), or
	•	std::optional<ReroutingState> rerouting_info = std::nullopt.
See the declaration in the generated docs.  

But I don't know enough C++ to trust it 😔

[SteveMacenski]

We do not support OSX. If you want to submit a PR to fix OSX issues, happy to merge them as long as they're not breaking Linux, but maintainers won't spend cycles on it (as we don't use OSX and its not a ROS supported platform) 😄

[traversaro]

Yes, that seems a generic C++ issue, I am not sure why GCC does not complains here (something related to template functions). I think that just defining both:

  template<typename GoalT>
  Route findRoute(
    const std::shared_ptr<const GoalT> goal,
    ReroutingState & rerouting_info);

and

  template<typename GoalT>
  Route findRoute(
    const std::shared_ptr<const GoalT> goal);

where the second is defined as:

template<typename GoalT>
Route RouteServer::findRoute(
  const std::shared_ptr<const GoalT> goal)
{
  ReroutingState rerouting_info = ReroutingState();
  return findRoute(goal, rerouting_info)
}

should work fine, but I need to double check if is ABI-backward compatible.