colcon build & running perf_test with -DPERFORMANCE_TEST_CYCLONEDDS_ENABLED=ON fails

[y-okumura-isp]

I'm working on CycloneDDS Relay mode(ros2/buildfarm_perf_tests#92), and faced this issues.

Required Info:

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • rolling(build)
• Version or commit hash:
  • 57791ae

Steps to reproduce issue

Before building performance_test, we need CycloneDDS idlc. Thus, we have to build ROS2 after sudo apt install maven default-jdk.

Additionally, find_package(CycloneDDS COMPONENTS idlc) looks missing in performance_test/CMakeLists.txt.
I change this file as following.

# CycloneDDS
option(PERFORMANCE_TEST_CYCLONEDDS_ENABLED "Enable CycloneDDS" OFF)
if(PERFORMANCE_TEST_CYCLONEDDS_ENABLED)
  find_package(CycloneDDS REQUIRED)
  find_package(CycloneDDS COMPONENTS idlc)   # add this line
  add_definitions(-DPERFORMANCE_TEST_CYCLONEDDS_ENABLED)
  add_subdirectory(src/idlgen/cyclonedds)
  include_directories(${CYCLONEDDS_IDL_INCLUDE_DIR})
endif()

Then when I run colcon build, I got following error. But sometimes I could build successfully.
When build succeeds, static library build/performance_test/src/idlgen/cyclonedds/objs/libcyclonedds_idl.a was created.
When fail, dynamic library build/performance_test/src/idlgen/cyclonedds/objs/libcyclonedds_idl.so was created.
Undefined functions reported below are in this library.

$ colcon build --symlink-install --cmake-args -DPERFORMANCE_TEST_CYCLONEDDS_ENABLED=ON
--- stderr: performance_test                                                                                                                                                                                                         
/usr/bin/ld: CMakeFiles/perf_test.dir/src/data_running/data_runner_factory.cpp.o: in function `performance_test::topics::Array1k::CycloneDDSDesc()':                                                                                 
data_runner_factory.cpp:(.text._ZN16performance_test6topics7Array1k14CycloneDDSDescEv[_ZN16performance_test6topics7Array1k14CycloneDDSDescEv]+0xb): undefined reference to `performance_test_msgs_msg_dds__Array1k__desc'            
/usr/bin/ld: CMakeFiles/perf_test.dir/src/data_running/data_runner_factory.cpp.o: in function `performance_test::topics::Array4k::CycloneDDSDesc()':                                                                                 
data_runner_factory.cpp:(.text._ZN16performance_test6topics7Array4k14CycloneDDSDescEv[_ZN16performance_test6topics7Array4k14CycloneDDSDescEv]+0xb): undefined reference to `performance_test_msgs_msg_dds__Array4k__desc'
/usr/bin/ld: CMakeFiles/perf_test.dir/src/data_running/data_runner_factory.cpp.o: in function `performance_test::topics::Array16k::CycloneDDSDesc()':
(snip)
---                                                                                                                                                                                                                                  
Failed   <<< performance_test [19.2s, exited with code 2] 

In my environment, I can successfully build by changing performance_test/src/idlgen/cyclonedds/CMakeLists.txt.

add_library(cyclonedds_idl ${IDL_GEN_H_LIST} ${IDL_GEN_C_LIST})
->
add_library(cyclonedds_idl STATIC ${IDL_GEN_H_LIST} ${IDL_GEN_C_LIST})

But perf_test abort.

$ ./build-cyclone/performance_test/perf_test -c CycloneDDS -t Array1k
Experiment id: fd1d025c-8a93-4ab9-9422-c9551c939cee
Performance Test Version: 57791ae-dirty
Logfile name: 
Communication mean: CYCLONEDDS
RMW Implementation: rmw_fastrtps_cpp
DDS domain id: 0
QOS: Reliability: BEST_EFFORT Durability: VOLATILE History kind: KEEP_ALL History depth: 1000 Sync. pub/sub: 0
Publishing rate: 1000
Topic name: Array1k
Maximum runtime (sec): 0
Number of publishers: 1
Number of subscribers: 1
Memory check enabled: 0
Use single participant: 0
With security: 0
Roundtrip Mode: NONE
Ignore seconds from beginning: 0

---EXPERIMENT-START---
T_experiment,   T_loop, received,       sent,   lost,   relative_loss,  data_received,  latency_min (ms),       latency_max (ms),       latency_mean (ms),      latency_variance (ms),  pub_loop_res_min (ms),  pub_loop_res_max (ms),       pub_loop_res_mean (ms), pub_loop_res_variance (ms),     sub_loop_res_min (ms),  sub_loop_res_max (ms),  sub_loop_res_mean (ms), sub_loop_res_variance (ms),     ru_utime,       ru_stime,       ru_maxrss,      ru_ixrss,   ru_idrss,        ru_isrss,       ru_minflt,      ru_majflt,      ru_nswap,       ru_inblock,     ru_oublock,     ru_msgsnd,      ru_msgrcv,      ru_nsignals,    ru_nvcsw,       ru_nivcsw,      cpu_usage (%),
terminate called after throwing an instance of 'std::runtime_error'
  what():  failed to create datareader

I think I coud fix it when I wrote CycloneDDS Relay mode.
I wonder where is the right repository(here? Apex repository?), but I already worked on this repository.
So I'm goning to send PR for now after this.

Expected behavior

build succeeds.

Actual behavior

build failed.

Additional information