cv_bridge exposes internal GTest symbols from OpenCV and/or links incorrectly

[cmansley]

If we create a package as follows:

$ roscreate-pkg opencv_tests roscpp cv_bridge
$ cd opencv_tests
$ mkdir test
$ echo "rosbuild_add_gtest(test_opencv test/test_opencv.cpp)" >> CMakeLists.txt

and test_opencv.cpp contains

#include <gtest/gtest.h>

int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);

  ::testing::FLAGS_gtest_death_test_style = "threadsafe";

  return RUN_ALL_TESTS();
}

then we run rosmake test, the test compiles, but crashes on destruction.

Here is the gdb output:

(gdb) bt
#0  0x00007ffff7285425 in __GI_raise (sig=<optimized out>) at ../nptl/sysdeps/unix/sysv/linux/raise.c:64
#1  0x00007ffff7288b8b in __GI_abort () at abort.c:91
#2  0x00007ffff72c339e in __libc_message (do_abort=2, fmt=0x7ffff73cd008 "*** glibc detected *** %s: %s: 0x%s ***\n") at ../sysdeps/unix/sysv/linux/libc_fatal.c:201
#3  0x00007ffff72cdb96 in malloc_printerr (action=3, str=0x7ffff73c9913 "free(): invalid pointer", ptr=<optimized out>) at malloc.c:5018
#4  0x0000000000400b67 in operator= (rhs=..., this=<optimized out>) at /usr/include/gtest/internal/gtest-string.h:285
#5  operator= (a_c_str=0x400e4c "threadsafe", this=<optimized out>) at /usr/include/gtest/internal/gtest-string.h:279
#6  main (argc=1, argv=<optimized out>) at /home/user/opencv_tests/test/test_opencv.cpp:7
(gdb) 

When I get this error, it typically is because GTest and OpenCV are fighting about symbols. In other words, OpenCV includes a version of GTest and we are linking against the wrong one.

[vrabaud]

can you do an ldd on your executable ? How come it is linked against OpenCV, there is no OpenCV code in there ? I replicated your code with catkin and did not get any error.
Following your isntructions, rosmake test did not work (I guess the created package is not a proper stack).

[cmansley]

Here is the output from ldd:

    linux-vdso.so.1 =>  (0x00007fff546fe000)
libopencv_ts.so.2.4 => /opt/ros/groovy/lib/libopencv_ts.so.2.4 (0x00007f331d5ee000)
libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f331d2c8000)
libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f331d0b1000)
libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f331ccf2000)
libopencv_core.so.2.4 => /opt/ros/groovy/lib/libopencv_core.so.2.4 (0x00007f331c8b4000)
libopencv_imgproc.so.2.4 => /opt/ros/groovy/lib/libopencv_imgproc.so.2.4 (0x00007f331c3f6000)
libopencv_highgui.so.2.4 => /opt/ros/groovy/lib/libopencv_highgui.so.2.4 (0x00007f331c0ac000)
libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f331be8f000)
libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f331bb92000)
/lib64/ld-linux-x86-64.so.2 (0x00007f331d8a6000)
libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f331b97b000)
librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f331b773000)
libjpeg.so.8 => /usr/lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007f331b522000)
libpng12.so.0 => /lib/x86_64-linux-gnu/libpng12.so.0 (0x00007f331b2fa000)
libtiff.so.4 => /usr/lib/x86_64-linux-gnu/libtiff.so.4 (0x00007f331b096000)
libjasper.so.1 => /usr/lib/x86_64-linux-gnu/libjasper.so.1 (0x00007f331ae3e000)
libgtk-x11-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgtk-x11-2.0.so.0 (0x00007f331a804000)
libgdk-x11-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgdk-x11-2.0.so.0 (0x00007f331a552000)
libgobject-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0 (0x00007f331a302000)
libglib-2.0.so.0 => /lib/x86_64-linux-gnu/libglib-2.0.so.0 (0x00007f331a00d000)
libv4l1.so.0 => /usr/lib/x86_64-linux-gnu/libv4l1.so.0 (0x00007f3319e07000)
libavcodec.so.53 => /usr/lib/x86_64-linux-gnu/libavcodec.so.53 (0x00007f3318ff7000)
libavformat.so.53 => /usr/lib/x86_64-linux-gnu/libavformat.so.53 (0x00007f3318cf7000)
libavutil.so.51 => /usr/lib/x86_64-linux-gnu/libavutil.so.51 (0x00007f3318ad7000)
libswscale.so.2 => /usr/lib/x86_64-linux-gnu/libswscale.so.2 (0x00007f3318890000)
libpangocairo-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libpangocairo-1.0.so.0 (0x00007f3318684000)
libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x00007f331834e000)
libXfixes.so.3 => /usr/lib/x86_64-linux-gnu/libXfixes.so.3 (0x00007f3318148000)
libatk-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libatk-1.0.so.0 (0x00007f3317f26000)
libcairo.so.2 => /usr/lib/x86_64-linux-gnu/libcairo.so.2 (0x00007f3317c67000)
libgdk_pixbuf-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgdk_pixbuf-2.0.so.0 (0x00007f3317a47000)
libgio-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgio-2.0.so.0 (0x00007f33176f8000)
libpangoft2-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libpangoft2-1.0.so.0 (0x00007f33174cd000)
libpango-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libpango-1.0.so.0 (0x00007f3317284000)
libfontconfig.so.1 => /usr/lib/x86_64-linux-gnu/libfontconfig.so.1 (0x00007f331704e000)
libXext.so.6 => /usr/lib/x86_64-linux-gnu/libXext.so.6 (0x00007f3316e3c000)
libXrender.so.1 => /usr/lib/x86_64-linux-gnu/libXrender.so.1 (0x00007f3316c32000)
libXinerama.so.1 => /usr/lib/x86_64-linux-gnu/libXinerama.so.1 (0x00007f3316a2f000)
libXi.so.6 => /usr/lib/x86_64-linux-gnu/libXi.so.6 (0x00007f331681f000)
libXrandr.so.2 => /usr/lib/x86_64-linux-gnu/libXrandr.so.2 (0x00007f3316617000)
libXcursor.so.1 => /usr/lib/x86_64-linux-gnu/libXcursor.so.1 (0x00007f331640d000)
libXcomposite.so.1 => /usr/lib/x86_64-linux-gnu/libXcomposite.so.1 (0x00007f3316209000)
libXdamage.so.1 => /usr/lib/x86_64-linux-gnu/libXdamage.so.1 (0x00007f3316006000)
libffi.so.6 => /usr/lib/x86_64-linux-gnu/libffi.so.6 (0x00007f3315dfd000)
libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007f3315bc0000)
libv4l2.so.0 => /usr/lib/x86_64-linux-gnu/libv4l2.so.0 (0x00007f33159b4000)
libvpx.so.1 => /usr/lib/libvpx.so.1 (0x00007f331570f000)
libvorbisenc.so.2 => /usr/lib/x86_64-linux-gnu/libvorbisenc.so.2 (0x00007f331523f000)
libvorbis.so.0 => /usr/lib/x86_64-linux-gnu/libvorbis.so.0 (0x00007f3315013000)
libtheoraenc.so.1 => /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1 (0x00007f3314dd6000)
libtheoradec.so.1 => /usr/lib/x86_64-linux-gnu/libtheoradec.so.1 (0x00007f3314bba000)
libspeex.so.1 => /usr/lib/x86_64-linux-gnu/libspeex.so.1 (0x00007f33149a1000)
libschroedinger-1.0.so.0 => /usr/lib/libschroedinger-1.0.so.0 (0x00007f33146ee000)
libgsm.so.1 => /usr/lib/libgsm.so.1 (0x00007f33144df000)
libva.so.1 => /usr/lib/x86_64-linux-gnu/libva.so.1 (0x00007f33142c9000)
libbz2.so.1.0 => /lib/x86_64-linux-gnu/libbz2.so.1.0 (0x00007f33140b9000)
libfreetype.so.6 => /usr/lib/x86_64-linux-gnu/libfreetype.so.6 (0x00007f3313e1c000)
libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x00007f3313bfe000)
libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f33139f9000)
libpixman-1.so.0 => /usr/lib/x86_64-linux-gnu/libpixman-1.so.0 (0x00007f3313772000)
libxcb-shm.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-shm.so.0 (0x00007f331356f000)
libxcb-render.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-render.so.0 (0x00007f3313364000)
libgmodule-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgmodule-2.0.so.0 (0x00007f3313160000)
libselinux.so.1 => /lib/x86_64-linux-gnu/libselinux.so.1 (0x00007f3312f40000)
libresolv.so.2 => /lib/x86_64-linux-gnu/libresolv.so.2 (0x00007f3312d24000)
libexpat.so.1 => /lib/x86_64-linux-gnu/libexpat.so.1 (0x00007f3312af9000)
libv4lconvert.so.0 => /usr/lib/x86_64-linux-gnu/libv4lconvert.so.0 (0x00007f3312884000)
libogg.so.0 => /usr/lib/x86_64-linux-gnu/libogg.so.0 (0x00007f331267d000)
liborc-0.4.so.0 => /usr/lib/x86_64-linux-gnu/liborc-0.4.so.0 (0x00007f3312401000)
libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x00007f33121fe000)
libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007f3311ff8000)

[cmansley]

To be clear, I am using groovy on Ubuntu 12.04

[vrabaud]

wow, that is crazy. What is your gcc version ? Also, did you get the rosmake test call to work ? Or did you have to add astack.yaml or something ?

[cmansley]

gcc (Ubuntu/Linaro 4.6.3-1ubuntu5) 4.6.3
Copyright (C) 2011 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.

And rosmake test work just fine except that it crashes. And the only other thing I had to do to make this function was add the directory to my ros package path. That is it. Nothing else.

[cmansley]

Again to clarify, it compiles the test correctly. The test itself crashes.

[cmansley]

The problem here is that opencv_ts includes the gtest symbols, because someone at opencv included gtest in the library. So, the test links to opencv.

[vrabaud]

Ok, was able to replicate it.
@dirk-thomas , have we faced that we other packages ? It can be solved if the gtest libraries appear before the opencv ones in the linkage. Can the rosbuild macro be modified for that ? Thx.

[cmansley]

I am not a catkin expert, but I think the real problem is in the cv_bridge CMakeLists.txt file on line 20. It adds the entire opencv library directory to the link path:
link_directories(${OpenCV_LIB_DIR})
but in the src\CMakeLists.txt, the libraries are included "correctly"
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ${catkin_LIBRARIES})

I don't see the purpose of adding the entire opencv library path, when you should only include the libraries as returned by the find_package command in the OpenCV_LIBRARIES variable.

The FindOpenCV.cmake correctly does not export the ts library, which is where the conflicting symbols are.

[vrabaud]

cool, that worked for me, thx. I did not think that could impact the exported tag but that makes sense. Releasing now.