grid_map_utils fails to build with "error: cannot deduce template arguments for ‘greater’ from ()" when using gcc 8

[sglee-morai]

Summary

I was trying to build Autoware.Universe, where the autoware repository commit is ba9d3c4e

My build fails while building grid_map_utils when using gcc version 8 (8.4 to be specific)

Build Environment

• Ubuntu 20.04
• ROS Galactic
• GCC version: 8.4

Why did I choose that specific version?

• To have the same environment as CI/CD pipeline's recent build
• Side Note: I also tried building with repositories file that the CI/CD build log provides

What if using GCC 9?

• grid_map_utils can be built successfully, but then again, the whole autoware.auto build fails since tensorrt_yolo does not support gcc versions later than 8 (More details are given in the comment section)
• when I checked the build log from the CI/CD pipeline, tensorrt_yolo wasn't built due to "CUDA_TOOLKIT_ROOT_DIR not found or specified", but strangely the whole autoware build didn't fail.

Error Details

How I tried to build the code

# when launching a terminal (.bashrc)
rosdistro=galactic
rmw_implementation=rmw_cyclonedds_cpp
source /opt/ros/galactic/setup.bash
export RMW_IMPLEMENTATION=${rmw_implementation}
export PATH=/usr/local/cuda/bin${PATH:+:${PATH}}
export LD_LIBRARY_PATH=/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}

# commit num
cd autoware
git checkout ba9d3c4e

# clean 
rm -rf build/ install/ src/

# get codes from the repositories
mkdir src
vcs import src < autoware.repos

# alternatively, this can be used
# vcs import src < 0e997f82-6d7d-4921-a488-a097067c9d00_autoware.proj.repos.exact # to use repositories file that was used for the build process in the CI/CD pipeline

# install dependencies
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

# build command
colcon build --packages-up-to grid_map_utils --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Log (Summary)

Starting >>> grid_map_utils
--- stderr: grid_map_utils                                
/home/morai-bm01/autoware/src/universe/autoware.universe/common/grid_map_utils/src/polygon_iterator.cpp: In static member function ‘static std::vector<std::vector<double> > grid_map_utils::PolygonIterator::calculateIntersectionsPerLine(const std::vector<grid_map_utils::Edge>&, std::pair<int, int>, const Position&, const grid_map::GridMap&)’:
/home/morai-bm01/autoware/src/universe/autoware.universe/common/grid_map_utils/src/polygon_iterator.cpp:71:76: error: cannot deduce template arguments for ‘greater’ from ()
     std::sort(y_intersections.begin(), y_intersections.end(), std::greater());
                                                                            ^
/home/morai-bm01/autoware/src/universe/autoware.universe/common/grid_map_utils/src/polygon_iterator.cpp:81:89: error: cannot deduce template arguments for ‘greater’ from ()
       origin.y() - (grid_map.getSize()(1) - 1) * grid_map.getResolution(), std::greater());
                                                                                         ^
make[2]: *** [CMakeFiles/grid_map_utils.dir/build.make:63: CMakeFiles/grid_map_utils.dir/src/polygon_iterator.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:159: CMakeFiles/grid_map_utils.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [Makefile:141: all] Error 2
---
Failed   <<< grid_map_utils [6.08s, exited with code 2]

Summary: 11 packages finished [56.1s]
  1 package failed: grid_map_utils
  1 package had stderr output: grid_map_utils

Log (Full)

morai-bm01@moraibm01-Sys:~/autoware$ rosdistro=galactic
morai-bm01@moraibm01-Sys:~/autoware$ rmw_implementation=rmw_cyclonedds_cpp
morai-bm01@moraibm01-Sys:~/autoware$ source /opt/ros/galactic/setup.bash
morai-bm01@moraibm01-Sys:~/autoware$ export RMW_IMPLEMENTATION=${rmw_implementation}
morai-bm01@moraibm01-Sys:~/autoware$ export PATH=/usr/local/cuda/bin${PATH:+:${PATH}}
morai-bm01@moraibm01-Sys:~/autoware$ export LD_LIBRARY_PATH=/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
morai-bm01@moraibm01-Sys:~/autoware$ rm -rf build/ install/ src/
morai-bm01@moraibm01-Sys:~/autoware$ mkdir src
morai-bm01@moraibm01-Sys:~/autoware$ vcs import src < 0e997f82-6d7d-4921-a488-a097067c9d00_autoware.proj.repos.exact
....................
=== src/core/autoware.core (git) ===
Cloning into '.'...
Note: switching to 'b35a6c789eda0616e3112d31db85151e36e47b0c'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at b35a6c7 ci(pre-commit): autoupdate (#42)
=== src/core/autoware_common (git) ===
Cloning into '.'...
Note: switching to '6bba407da4448c41d0e532b5f15d9cf262d5dff7'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at 6bba407 ci(pre-commit): autoupdate (#83)
=== src/core/autoware_msgs (git) ===
Cloning into '.'...
Note: switching to '04d5a24a37fd3c99a1d2672a358be9a8bf9d129d'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at 04d5a24 feat(sensing-messages): add sensing messages (#24)
=== src/core/external/autoware_auto_msgs (git) ===
Cloning into '.'...
Note: switching to 'c8a5d2001da052137c08cdf9e8d75c1975f99b84'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at c8a5d20 docs(autoware_auto_perception_msgs): add the comment for traffic light constants (#31)
=== src/launcher/autoware_launch (git) ===
Cloning into '.'...
Note: switching to 'a06d85eb760fd5e85df82dc355902b5c89ab8c76'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at a06d85e chore(rviz): update rviz config for pull_over (#58)
=== src/param/autoware_individual_params (git) ===
Cloning into '.'...
Note: switching to '0334c6a8290d866923b583730b781ef6b9a62933'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at 0334c6a chore(deps): bump styfle/cancel-workflow-action from 0.9.1 to 0.10.0 (#34)
=== src/sensor_component/external/sensor_component_description (git) ===
Cloning into '.'...
Note: switching to 'b291e6f2fc10d752fdce2606eab2b9624c1b22ae'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at b291e6f ci(pre-commit): autoupdate (#25)
=== src/sensor_component/external/tamagawa_imu_driver (git) ===
Cloning into '.'...
Note: switching to '28ad3cd4fb043e5f92353a540c3531cd4cb7bef3'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at 28ad3cd fix: remove init options (#7)
=== src/sensor_component/external/velodyne_vls (git) ===
Cloning into '.'...
Note: switching to 'd28bcaf726e8af8d07926744a8cd9c057ff86229'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at d28bcaf fix(velodyne_vls): modify build error in rolling (#35)
=== src/sensor_kit/sample_sensor_kit_launch (git) ===
Cloning into '.'...
Note: switching to 'de266bbb48b6e1b98fdec40eecd162db46823e54'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at de266bb ci(pre-commit): autoupdate (#39)
=== src/simulator/scenario_simulator (git) ===
Cloning into '.'...
Note: switching to 'f31d37e48e52635f3fff090c9f0d86d9b91e3ebd'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at f31d37e48 Merge pull request #838 from tier4/doc/5th_improvement
=== src/universe/autoware.universe (git) ===
Cloning into '.'...
Note: switching to '53cb78c194ad9404a1550777e9be93ebb69f2e0b'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at 53cb78c19 fix(image_projection_based_fusion): fix build for environments without CUDA (#1306)
=== src/universe/external/grid_map (git) ===
Cloning into '.'...
Note: switching to 'ba2f9cb6e62f7ee9c5bac7401391a211e442e459'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at ba2f9cb fix inline function (#317)
=== src/universe/external/muSSP (git) ===
Cloning into '.'...
Note: switching to 'c79e98fd5e658f4f90c06d93472faa977bc873b9'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at c79e98f Merge pull request #2 from tier4/feature/change_compile_option to avoid muSP
=== src/universe/external/ndt_omp (git) ===
Cloning into '.'...
Note: switching to '7fa5fa727ea2b999da925d6ab7dfa1298af521e4'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at 7fa5fa7 add compile flag to change compile options (#12)
=== src/universe/external/pointcloud_to_laserscan (git) ===
Cloning into '.'...
Note: switching to '948a4fca35dcb03c6c8fbfa610a686f7c919fe0b'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at 948a4fc fix: replace deprecated header for humble (#5)
=== src/universe/external/tier4_ad_api_adaptor (git) ===
Cloning into '.'...
Note: switching to 'b244de1fc8a9901ae48733f0cc0c99807ae596c8'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at b244de1 fix: remove unneeded namespace (#53)
=== src/universe/external/tier4_autoware_msgs (git) ===
Cloning into '.'...
Note: switching to '8a553c473c106e6c31dad26907154ad051531d04'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at 8a553c4 fix: move IsAutonomousAvailable.msg from vehicle_msgs to system_msgs (#41)
=== src/vehicle/external/pacmod_interface (git) ===
Cloning into '.'...
Note: switching to '9a5c29e1620e319b200101627397aea7560c3713'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at 9a5c29e feat: add pacmod steer test (#28)
=== src/vehicle/sample_vehicle_launch (git) ===
Cloning into '.'...
Note: switching to '95f0165c2636fe9b925a2b9e1becb55ae75a4177'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at 95f0165 ci(pre-commit): autoupdate (#36)
morai-bm01@moraibm01-Sys:~/autoware$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
/home/morai-bm01/.local/lib/python3.8/site-packages/pkg_resources/__init__.py:123: PkgResourcesDeprecationWarning: 0.1.36ubuntu1 is an invalid version and will not be supported in a future release
  warnings.warn(
/home/morai-bm01/.local/lib/python3.8/site-packages/pkg_resources/__init__.py:123: PkgResourcesDeprecationWarning: 0.23ubuntu1 is an invalid version and will not be supported in a future release
  warnings.warn(
#All required rosdeps installed successfully
morai-bm01@moraibm01-Sys:~/autoware$ colcon build --packages-up-to grid_map_utils --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
ERROR:colcon.colcon_core.package_selection:Exception in package selection extension 'override_check': argument --allow-overriding: conflicting option string: --allow-overriding
Traceback (most recent call last):
  File "/home/morai-bm01/.local/lib/python3.8/site-packages/colcon_core/package_selection/__init__.py", line 109, in _add_package_selection_arguments
    retval = extension.add_arguments(parser=group)
  File "/usr/lib/python3/dist-packages/colcon_override_check/package_selection/override_check.py", line 52, in add_arguments
    parser.add_argument(
  File "/home/morai-bm01/.local/lib/python3.8/site-packages/colcon_defaults/argument_parser/defaults.py", line 78, in add_argument
    argument = super().add_argument(*args, **kwargs)
  File "/home/morai-bm01/.local/lib/python3.8/site-packages/colcon_core/argument_parser/destination_collector.py", line 46, in add_argument
    argument = super().add_argument(*args, **kwargs)
  File "/home/morai-bm01/.local/lib/python3.8/site-packages/colcon_core/argument_parser/type_collector.py", line 34, in add_argument
    ret = super().add_argument(*args, **kwargs)
  File "/home/morai-bm01/.local/lib/python3.8/site-packages/colcon_core/argument_parser/__init__.py", line 171, in add_argument
    return self._parser.add_argument(*args, **kwargs)
  File "/home/morai-bm01/.local/lib/python3.8/site-packages/colcon_argcomplete/argument_parser/argcomplete/__init__.py", line 49, in add_argument
    argument = self._parser.add_argument(*args, **kwargs)
  File "/usr/lib/python3.8/argparse.py", line 1398, in add_argument
    return self._add_action(action)
  File "/usr/lib/python3.8/argparse.py", line 1602, in _add_action
    action = super(_ArgumentGroup, self)._add_action(action)
  File "/usr/lib/python3.8/argparse.py", line 1412, in _add_action
    self._check_conflict(action)
  File "/usr/lib/python3.8/argparse.py", line 1551, in _check_conflict
    conflict_handler(action, confl_optionals)
  File "/usr/lib/python3.8/argparse.py", line 1560, in _handle_conflict_error
    raise ArgumentError(action, message % conflict_string)
argparse.ArgumentError: argument --allow-overriding: conflicting option string: --allow-overriding


Starting >>> autoware_auto_geometry_msgs
Starting >>> autoware_auto_mapping_msgs
Starting >>> autoware_lint_common
Starting >>> grid_map_cmake_helpers
Starting >>> tier4_debug_msgs
Finished <<< autoware_lint_common [0.31s]                                                                                  
Starting >>> autoware_cmake
Finished <<< grid_map_cmake_helpers [0.33s]
Starting >>> grid_map_core
Finished <<< autoware_cmake [0.32s]                                                                                        
Finished <<< autoware_auto_geometry_msgs [6.69s]                                                                                   
Finished <<< autoware_auto_mapping_msgs [7.15s]                                                                       
Starting >>> autoware_auto_planning_msgs
Finished <<< tier4_debug_msgs [9.60s]                                                                                                             
Finished <<< grid_map_core [12.5s]                                                                                   
Starting >>> grid_map_cv
Finished <<< autoware_auto_planning_msgs [11.5s]                                                                   
Starting >>> autoware_auto_vehicle_msgs
Finished <<< grid_map_cv [7.53s]                                                                             
Finished <<< autoware_auto_vehicle_msgs [14.8s]                        
Starting >>> tier4_autoware_utils
Finished <<< tier4_autoware_utils [15.9s]                         
Starting >>> grid_map_utils
--- stderr: grid_map_utils                                
/home/morai-bm01/autoware/src/universe/autoware.universe/common/grid_map_utils/src/polygon_iterator.cpp: In static member function ‘static std::vector<std::vector<double> > grid_map_utils::PolygonIterator::calculateIntersectionsPerLine(const std::vector<grid_map_utils::Edge>&, std::pair<int, int>, const Position&, const grid_map::GridMap&)’:
/home/morai-bm01/autoware/src/universe/autoware.universe/common/grid_map_utils/src/polygon_iterator.cpp:71:76: error: cannot deduce template arguments for ‘greater’ from ()
     std::sort(y_intersections.begin(), y_intersections.end(), std::greater());
                                                                            ^
/home/morai-bm01/autoware/src/universe/autoware.universe/common/grid_map_utils/src/polygon_iterator.cpp:81:89: error: cannot deduce template arguments for ‘greater’ from ()
       origin.y() - (grid_map.getSize()(1) - 1) * grid_map.getResolution(), std::greater());
                                                                                         ^
make[2]: *** [CMakeFiles/grid_map_utils.dir/build.make:63: CMakeFiles/grid_map_utils.dir/src/polygon_iterator.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:159: CMakeFiles/grid_map_utils.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [Makefile:141: all] Error 2
---
Failed   <<< grid_map_utils [6.08s, exited with code 2]

Summary: 11 packages finished [56.1s]
  1 package failed: grid_map_utils
  1 package had stderr output: grid_map_utils

[sglee-morai]

Update

I managed to build autoware.universe by excluding tensorrt_yolo and lidar_centerpoint, using GCC 9.4.0
However, I got an error when sourcing install/setup.bash. I'm still figuring out how I can get around this for running Autoware.Universe with Scenario Simulator

For build (successful)

colcon build --packages-skip-up-to [tensorrt_yolo [lidar_centerpoint]] --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

To run, (error)

morai-bm01@moraibm01-Sys:~/autoware$ source install/setup.bash
not found: "/home/morai-bm01/autoware/install/lidar_centerpoint/share/lidar_centerpoint/local_setup.bash"
not found: "/home/morai-bm01/autoware/install/tensorrt_yolo/share/tensorrt_yolo/local_setup.bash"