[Bug]: Missing reference to `absl::lts_20211102::strings_internal::AppendPieces

[devisals]

Describe the issue

I am trying to compile ROS Cartographer, and it requires Lib Absl lts_20211102 specifically (I tried a different version, however that did not work with Cartographer's compilation). Whenever I try to compile it, I get the same issue everytime.

Here is the exact error:

FAILED: cartographer_pbstream
: && /usr/bin/c++ -O3 -DNDEBUG -latomic -rdynamic CMakeFiles/cartographer_pbstream.dir/cartographer/io/pbstream_main.cc.o -o cartographer_pbstream -Wl,-rpath,/usr/local/lib: libcartographer.a /usr/local/lib/libceres.a /usr/local/lib/libglog.so.0.7.0 -lspqr -ltbb -lcholmod -lccolamd -lcamd -lcolamd -lamd -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lmetis -lcxsparse -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lmetis -lcxsparse -llua5.2 -lm /usr/lib/x86_64-linux-gnu/libboost_iostreams.so.1.71.0 -lglog /usr/local/lib/libgflags_nothreads.a -lcairo /usr/local/lib/libprotobuf.a /usr/local/lib/libabsl_leak_check.a /usr/local/lib/libabsl_cord.a /usr/local/lib/libabsl_cordz_info.a /usr/local/lib/libabsl_cord_internal.a /usr/local/lib/libabsl_cordz_functions.a /usr/local/lib/libabsl_cordz_handle.a /usr/local/lib/libabsl_hash.a /usr/local/lib/libabsl_city.a /usr/local/lib/libabsl_bad_variant_access.a /usr/local/lib/libabsl_low_level_hash.a /usr/local/lib/libabsl_raw_hash_set.a /usr/local/lib/libabsl_bad_optional_access.a /usr/local/lib/libabsl_hashtablez_sampler.a /usr/local/lib/libabsl_exponential_biased.a /usr/local/lib/libabsl_str_format_internal.a /usr/local/lib/libabsl_synchronization.a /usr/local/lib/libabsl_stacktrace.a /usr/local/lib/libabsl_graphcycles_internal.a /usr/local/lib/libabsl_symbolize.a /usr/local/lib/libabsl_malloc_internal.a /usr/local/lib/libabsl_debugging_internal.a /usr/local/lib/libabsl_demangle_internal.a /usr/local/lib/libabsl_time.a /usr/local/lib/libabsl_strings.a /usr/local/lib/libabsl_strings_internal.a /usr/local/lib/libabsl_base.a -lpthread /usr/local/lib/libabsl_spinlock_wait.a -lrt /usr/local/lib/libabsl_throw_delegate.a /usr/local/lib/libabsl_raw_logging_internal.a /usr/local/lib/libabsl_log_severity.a /usr/local/lib/libabsl_int128.a /usr/local/lib/libabsl_civil_time.a /usr/local/lib/libabsl_time_zone.a -lpthread && :
/usr/bin/ld: libcartographer.a(histogram.cc.o): in function cartographer::common::Histogram::ToString[abi:cxx11](int) const': histogram.cc:(.text+0x43f): undefined reference to absl::lts_20211102::strings_internal::CatPiecesabi:cxx11'
/usr/bin/ld: histogram.cc:(.text+0x965): undefined reference to `absl::lts_20211102::strings_internal::AppendPieces(std::__cxx11::basic_string<char, std::char_traits, std::allocator >*, std::initializer_listabsl::lts_20211102::string_view)'
collect2: error: ld returned 1 exit status
[116/281] Building CXX object CMakeFil...th/compute_relations_metrics_main.cc.o

Steps to reproduce the problem

Use the provided SH file to download and install absiel provided in the offical ROS cartographer installation steps: https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html

If that does not work (i.e a newer version of absiel is installed, or the branch is not found), then you can use my custom SH scripts right here:

Firstly, try to install absiel with this script:

#!/bin/bash

set -o errexit
set -o verbose

# Check if the abseil-cpp directory exists
if [ -d "abseil-cpp" ]; then
    echo "abseil-cpp directory exists. Removing it..."
    rm -rf abseil-cpp
fi

# Clone the Abseil repository
# git clone https://github.com/abseil/abseil-cpp.git
# cd abseil-cpp
# git checkout 66a0a46462692378f77518f9db766a218bfac40b # 20211102.0
git clone --no-checkout https://github.com/abseil/abseil-cpp.git
cd abseil-cpp
git fetch --tags
git checkout tags/20211102.0

# Build process
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_CXX_STANDARD=17 \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
  ..
ninja
sudo ninja install

# Navigate to the stow directory
cd /usr/local/stow

# Try to stow the absl package and capture any failure output
if ! (sudo stow --delete absl && sudo stow absl) > stow_output.txt 2>&1; then
    echo "Stow command failed. Check stow_output.txt for details."
else
    echo "Stow operation completed successfully."
fi

If there are errors being shown, then navigate to the stow path, and find the file stow_output.txt. In that path, copy this script below and execute it:

#!/bin/bash

# Path to the file containing the stow error messages
ERROR_FILE="stow_output.txt"
TARGET_DIR="/usr/local" # Change this if your target directory is different

set -o errexit
set -o nounset
set -o pipefail

# Function to remove a file if it exists
remove_file() {
    local file_path="$1"
    if [[ -e "$file_path" ]]; then
        echo "Removing $file_path"
        sudo rm -f "$file_path"
    else
        echo "File not found: $file_path"
    fi
}

# Main loop to process each line of the error file
while IFS= read -r line; do
    if [[ $line == *"existing target is neither a link nor a directory:"* ]]; then
        # Extract the file path
        file_path=$(echo "$line" | awk '{print $NF}')
        full_path="$TARGET_DIR/$file_path"
        # Call function to remove the file
        remove_file "$full_path"
    fi
done < "$ERROR_FILE"

echo "Cleanup complete."

Then once all the previous dependenices are removed, Re-run the first script again.

Following that, follow all the steps (except for the install_absiel part) in the ros_cartographer repository.

What version of Abseil are you using?

20211102

What operating system and version are you using?

Ubuntu 20.04

What compiler and version are you using?

G++ 17

What build system are you using?

cmake version 3.28.0

Additional context

No response

[derekmauro]

The problem is almost certainly that you are compiling Abseil in C++17 mode, but another project in your build with another C++ standard.

https://github.com/abseil/abseil-cpp/blob/master/FAQ.md#how-to-i-set-the-c-dialect-used-to-build-abseil
https://github.com/abseil/abseil-cpp/blob/master/FAQ.md#what-is-abi-and-why-dont-you-recommend-using-a-pre-compiled-version-of-abseil

This is probably the most commonly reported issue.

[devisals]

Thanks, manually adding the line for the C++ to be 17 in the Cmake files of the project fixed the issue with absiel.

[xiaofeifei-1]

Great! Follow your suggest, I fixed the issue with absiel.

参考：https://blog.csdn.net/u014493244/article/details/128051026

加上 -DCMAKE_CXX_STANDARD=17 \ 进行单独安装
`set -o errexit
set -o verbose

git clone https://github.com/abseil/abseil-cpp.git
cd abseil-cpp
git checkout tags/20211102.0 # 20211102.0
mkdir build
cd build
cmake -G Ninja
-DCMAKE_CXX_STANDARD=17
-DCMAKE_BUILD_TYPE=Release
-DCMAKE_POSITION_INDEPENDENT_CODE=ON
-DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl
..
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl`

加上-DCMAKE_CXX_STANDARD=17 进行编译
catkin_make_isolated --install --use-ninja --cmake-args -DCMAKE_CXX_STANDARD=17