moveit2 image failing to build

[ana-GT]

Operating System

Ubuntu 20.04

Installation type

Local source build

Version or commit hash

main

RMW Implementation

FastRTPS

Client library (if applicable)

Other

Steps to reproduce issue

Tried to build the moveit2 image (in order to build the space-robots image). Followed the standard instructions here: https://github.com/space-ros/docker/tree/main/moveit2 (in other words, just run the ./build.sh script). I am using the space-ros docker image pulled from Github as base image.

The script fails while trying to build the geometric_shapes package. Terminal output below. I have built the moveit2 / space-robots images in the past without an issue.

Expected behavior

After running the ./build.sh script, the moveit2 docker image should be built.

Actual behavior

The script ./build.sh fails midway. It cannot compile geometric-shapes, according to the terminal output.

Backtrace or Console output

63.66 Starting >>> geometric_shapes
69.97 Finished <<< rviz_marker_tools [14.4s]

<<< snip, snip, snip output that is not relevant to the error

147.0 Finished <<< filters [1min 44s]
147.0 Starting >>> control_toolbox

<<< snip, snip, snip output that is not relevant to the error

189.5 --- stderr: geometric_shapes
189.5 In file included from /usr/include/eigen3/Eigen/Core:294,
189.5 from /usr/include/eigen3/Eigen/Geometry:11,
189.5 from /home/spaceros-user/moveit2/src/geometric_shapes/include/geometric_shapes/aabb.h:34,
189.5 from /home/spaceros-user/moveit2/src/geometric_shapes/include/geometric_shapes/bodies.h:35,
189.5 from /home/spaceros-user/moveit2/src/geometric_shapes/src/bodies.cpp:31:
189.5 In member function ‘Eigen::PlainObjectBase& Eigen::PlainObjectBase::operator=(Eigen::PlainObjectBase&&) [with Derived = Eigen::Matrix<double, 3, 1>]’,
189.5 inlined from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&&) [with _Scalar = double; int _Rows = 3; int _Cols = 1; int _Options = 0; int MaxRows = 3; int MaxCols = 1]’ at /usr/include/eigen3/Eigen/src/Core/Matrix.h:281:22,
189.5 inlined from ‘virtual void bodies::ConvexMesh::useDimensions(const shapes::Shape*)’ at /home/spaceros-user/moveit2/src/geometric_shapes/src/bodies.cpp:852:46:
189.5 /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:504:7: warning: ‘(Eigen::DenseStorage<double, 3, 3, 1, 0>)((char*)& + offsetof(Eigen::Vector3d, Eigen::Matrix<double, 3, 1, 0, 3, 1>::.Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >::.Eigen::MatrixBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >::.Eigen::DenseBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >::.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1, 0, 3, 1>, 3>::.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1, 0, 3, 1>, 1>::.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1, 0, 3, 1>, 0>::))’ may be used uninitialized [-Wmaybe-uninitialized]
189.5 504 | m_storage = std::move(other.m_storage);
189.5 | ^~~~~~~~~
189.5 /home/spaceros-user/moveit2/src/geometric_shapes/src/bodies.cpp: In member function ‘virtual void bodies::ConvexMesh::useDimensions(const shapes::Shape*)’:
189.5 /home/spaceros-user/moveit2/src/geometric_shapes/src/bodies.cpp:852:46: note: ‘’ declared here
189.5 852 | mesh_data->mesh_center = Eigen::Vector3d();
189.5 | ^
189.5 c++: fatal error: Killed signal terminated program cc1plus
189.5 compilation terminated.
189.5 gmake[2]: *** [test/CMakeFiles/test_ray_intersection.dir/build.make:76: test/CMakeFiles/test_ray_intersection.dir/test_ray_intersection.cpp.o] Error 1
189.5 gmake[1]: *** [CMakeFiles/Makefile2:441: test/CMakeFiles/test_ray_intersection.dir/all] Error 2
189.5 gmake: *** [Makefile:146: all] Error 2
189.5 ---
189.5 Failed <<< geometric_shapes [2min 6s, exited with code 2]

[MinahilRaza]

I had a similar issue a while ago. Can you check your ram usage during the build using free -mh in your terminal
This error typically happens when the RAM is full. A work around is to add swap memory.