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error C2491 "definition of dllimport function not allowed" on downstream package on Windows when compiled with BUILD_SHARED_LIBS set to OFF #1

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traversaro opened this issue Jun 13, 2022 · 10 comments
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error C2491 "definition of dllimport function not allowed" on downstream package on Windows when compiled with BUILD_SHARED_LIBS set to OFF #1

traversaro opened this issue Jun 13, 2022 · 10 comments

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@traversaro
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traversaro commented Jun 13, 2022 •
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I tried to migrate of a simple ROS2 package from RoboStack's Galactic (where it was working) to Humble (where the Windows build is not working).

The PR is robotology/yarp-devices-ros2#31 and the code is https://github.com/robotology-playground/yarp-ros2/blob/4ae984d11428491ea0b7c61162707cf49836897a/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt, on Humble macOS and Linux are working but windows is failing with:

2022-06-13T07:23:12.5560863Z   Building Custom Rule D:/a/yarp-ros2/yarp-ros2/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt
2022-06-13T07:23:12.6743586Z   get_map_by_name__type_support.cpp
2022-06-13T07:23:13.0765930Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs\srv\detail\dds_fastrtps\get_map_by_name__type_support.cpp(34,1): error C2491: 'map2d_nws_ros2_msgs::srv::typesupport_fastrtps_cpp::cdr_serialize': definition of dllimport function not allowed [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
2022-06-13T07:23:13.0795019Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs\srv\detail\dds_fastrtps\get_map_by_name__type_support.cpp(45,1): error C2491: 'map2d_nws_ros2_msgs::srv::typesupport_fastrtps_cpp::cdr_deserialize': definition of dllimport function not allowed [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
2022-06-13T07:23:13.0799494Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs\srv\detail\dds_fastrtps\get_map_by_name__type_support.cpp(57,1): error C2491: 'map2d_nws_ros2_msgs::srv::typesupport_fastrtps_cpp::get_serialized_size': definition of dllimport function not allowed [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
2022-06-13T07:23:13.0804346Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs\srv\detail\dds_fastrtps\get_map_by_name__type_support.cpp(79,1): error C2491: 'map2d_nws_ros2_msgs::srv::typesupport_fastrtps_cpp::max_serialized_size_GetMapByName_Request': definition of dllimport function not allowed [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
2022-06-13T07:23:13.0891238Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs\srv\detail\dds_fastrtps\get_map_by_name__type_support.cpp(190,134): warning C4273: 'rosidl_typesupport_fastrtps_cpp__get_message_type_support_handle__map2d_nws_ros2_msgs__srv__GetMapByName_Request': inconsistent dll linkage [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
2022-06-13T07:23:13.0893518Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs/srv/detail/get_map_by_name__rosidl_typesupport_fastrtps_cpp.hpp(74,3): message : see previous definition of 'rosidl_typesupport_fastrtps_cpp__get_message_type_support_handle__map2d_nws_ros2_msgs__srv__GetMapByName_Request' [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
2022-06-13T07:23:13.0895571Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs\srv\detail\dds_fastrtps\get_map_by_name__type_support.cpp(258,1): error C2491: 'map2d_nws_ros2_msgs::srv::typesupport_fastrtps_cpp::cdr_serialize': definition of dllimport function not allowed [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
2022-06-13T07:23:13.0898227Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs\srv\detail\dds_fastrtps\get_map_by_name__type_support.cpp(271,1): error C2491: 'map2d_nws_ros2_msgs::srv::typesupport_fastrtps_cpp::cdr_deserialize': definition of dllimport function not allowed [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
2022-06-13T07:23:13.0902110Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs\srv\detail\dds_fastrtps\get_map_by_name__type_support.cpp(284,1): error C2491: 'map2d_nws_ros2_msgs::srv::typesupport_fastrtps_cpp::get_serialized_size': definition of dllimport function not allowed [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
2022-06-13T07:23:13.0904937Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs\srv\detail\dds_fastrtps\get_map_by_name__type_support.cpp(307,1): error C2491: 'map2d_nws_ros2_msgs::srv::typesupport_fastrtps_cpp::max_serialized_size_GetMapByName_Response': definition of dllimport function not allowed [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
2022-06-13T07:23:13.0915119Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs\srv\detail\dds_fastrtps\get_map_by_name__type_support.cpp(421,135): warning C4273: 'rosidl_typesupport_fastrtps_cpp__get_message_type_support_handle__map2d_nws_ros2_msgs__srv__GetMapByName_Response': inconsistent dll linkage [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
2022-06-13T07:23:13.0917017Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs/srv/detail/get_map_by_name__rosidl_typesupport_fastrtps_cpp.hpp(151,3): message : see previous definition of 'rosidl_typesupport_fastrtps_cpp__get_message_type_support_handle__map2d_nws_ros2_msgs__srv__GetMapByName_Response' [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
2022-06-13T07:23:13.0929394Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs\srv\detail\dds_fastrtps\get_map_by_name__type_support.cpp(482,126): warning C4273: 'rosidl_typesupport_fastrtps_cpp__get_service_type_support_handle__map2d_nws_ros2_msgs__srv__GetMapByName': inconsistent dll linkage [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
2022-06-13T07:23:13.0932847Z D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\rosidl_typesupport_fastrtps_cpp\map2d_nws_ros2_msgs/srv/detail/get_map_by_name__rosidl_typesupport_fastrtps_cpp.hpp(171,3): message : see previous definition of 'rosidl_typesupport_fastrtps_cpp__get_service_type_support_handle__map2d_nws_ros2_msgs__srv__GetMapByName' [D:\a\yarp-ros2\yarp-ros2\build\ros2_interfaces_ws\src\map2d_nws_ros2_msgs\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.vcxproj]
@traversaro traversaro mentioned this issue Jun 13, 2022
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@wolfv
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wolfv commented Jun 13, 2022

Hmm, strange. I didn't see this kind of issue when building any of the native message packages... Could there be some boilerplate CMake missing?

@wolfv
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wolfv commented Jun 13, 2022

Could this workaround be the problem? https://github.com/robotology-playground/yarp-ros2/blob/4ae984d11428491ea0b7c61162707cf49836897a/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt#L51-L54

@traversaro
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Could this workaround be the problem? https://github.com/robotology-playground/yarp-ros2/blob/4ae984d11428491ea0b7c61162707cf49836897a/ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt#L51-L54

I think this is unrelated, the problem happens even if you comment out that part.

To investigate the problem, I compared ros-galactic vs ros-humble, comparing the exact invocation of the compilation of the failing compilation unit:

Working:
  "command": "C:\\PROGRA~2\\MIB055~1\\2019\\ENTERP~1\\VC\\Tools\\MSVC\\1429~1.301\\bin\\Hostx64\\x64\\cl.exe  /nologo /TP -DFASTCDR_DYN_LINK -DFASTRTPS_DYN_LINK -DROSIDL_TYPESUPPORT_FASTRTPS_CPP_BUILDING_DLL_map2d_nws_ros2_msgs -DROS_PACKAGE_NAME=\\\"map2d_nws_ros2_msgs\\\" -IC:\\src\\yarp-ros2\\buildgalactic\\ros2_interfaces_ws\\src\\map2d_nws_ros2_msgs\\rosidl_generator_cpp -IC:\\src\\yarp-ros2\\buildgalactic\\ros2_interfaces_ws\\src\\map2d_nws_ros2_msgs\\rosidl_typesupport_fastrtps_cpp -external:IC:\\Users\\STraversaro\\AppData\\Local\\mambaforge\\envs\\yarpgalactic\\Library\\include -external:W0    /DWIN32 /D_WINDOWS /GR /EHsc /DWIN32 /D_WINDOWS /W3 /GR /EHsc /MD /O2 /Ob2 /DNDEBUG /W4 /w34101 /w34555 /w34189 /w35038 /w34715 -std:c++14 /Foros2_interfaces_ws\\src\\map2d_nws_ros2_msgs\\CMakeFiles\\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.dir\\c93e36ceeabcb03fe94ad1ea268bccde\\srv\\detail\\dds_fastrtps\\get_map_by_name__type_support.cpp.obj /FdTARGET_COMPILE_PDB /FS -c C:\\src\\yarp-ros2\\buildgalactic\\ros2_interfaces_ws\\src\\map2d_nws_ros2_msgs\\rosidl_typesupport_fastrtps_cpp\\map2d_nws_ros2_msgs\\srv\\detail\\dds_fastrtps\\get_map_by_name__type_support.cpp",
Not Working:
  "command": "C:\\PROGRA~2\\MIB055~1\\2019\\ENTERP~1\\VC\\Tools\\MSVC\\1429~1.301\\bin\\Hostx64\\x64\\cl.exe  /nologo /TP -DFASTCDR_DYN_LINK -DROS_PACKAGE_NAME=\\\"map2d_nws_ros2_msgs\\\" -D_SILENCE_CXX17_CODECVT_HEADER_DEPRECATION_WARNING -IC:\\src\\yarp-ros2\\buildhumble\\ros2_interfaces_ws\\src\\map2d_nws_ros2_msgs\\rosidl_typesupport_fastrtps_cpp -IC:\\src\\yarp-ros2\\buildhumble\\ros2_interfaces_ws\\src\\map2d_nws_ros2_msgs\\rosidl_generator_cpp -external:IC:\\Users\\STraversaro\\AppData\\Local\\mambaforge\\envs\\yarphumble\\Library\\include -external:IC:\\Users\\STraversaro\\AppData\\Local\\mambaforge\\envs\\yarphumble\\Library\\include\\rmw -external:IC:\\Users\\STraversaro\\AppData\\Local\\mambaforge\\envs\\yarphumble\\Library\\include\\rcutils -external:IC:\\Users\\STraversaro\\AppData\\Local\\mambaforge\\envs\\yarphumble\\Library\\include\\rosidl_runtime_c -external:IC:\\Users\\STraversaro\\AppData\\Local\\mambaforge\\envs\\yarphumble\\Library\\include\\rosidl_typesupport_interface -external:IC:\\Users\\STraversaro\\AppData\\Local\\mambaforge\\envs\\yarphumble\\Library\\include\\rosidl_runtime_cpp -external:IC:\\Users\\STraversaro\\AppData\\Local\\mambaforge\\envs\\yarphumble\\Library\\include\\rosidl_typesupport_fastrtps_cpp -external:IC:\\Users\\STraversaro\\AppData\\Local\\mambaforge\\envs\\yarphumble\\Library\\include\\nav_msgs -external:IC:\\Users\\STraversaro\\AppData\\Local\\mambaforge\\envs\\yarphumble\\Library\\include\\builtin_interfaces -external:IC:\\Users\\STraversaro\\AppData\\Local\\mambaforge\\envs\\yarphumble\\Library\\include\\geometry_msgs -external:IC:\\Users\\STraversaro\\AppData\\Local\\mambaforge\\envs\\yarphumble\\Library\\include\\std_msgs -external:W0    /DWIN32 /D_WINDOWS /GR /EHsc /DWIN32 /D_WINDOWS /W3 /GR /EHsc /MD /O2 /Ob2 /DNDEBUG /W4 -std:c++14 /Foros2_interfaces_ws\\src\\map2d_nws_ros2_msgs\\CMakeFiles\\map2d_nws_ros2_msgs__rosidl_typesupport_fastrtps_cpp.dir\\c93e36ceeabcb03fe94ad1ea268bccde\\srv\\detail\\dds_fastrtps\\get_map_by_name__type_support.cpp.obj /FdTARGET_COMPILE_PDB /FS -c C:\\src\\yarp-ros2\\buildhumble\\ros2_interfaces_ws\\src\\map2d_nws_ros2_msgs\\rosidl_typesupport_fastrtps_cpp\\map2d_nws_ros2_msgs\\srv\\detail\\dds_fastrtps\\get_map_by_name__type_support.cpp",

The main difference is that in the galactic version -DROSIDL_TYPESUPPORT_FASTRTPS_CPP_BUILDING_DLL_map2d_nws_ros2_msgs is defined, while it is not defined in Humble.

@traversaro
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Related code:

@traversaro
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Manually changing the related code to the Galactic version makes the library work, so I think that indeed it is a regression due to ros2/rosidl_typesupport_fastrtps#87 .

@traversaro
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Ok, I understood the problem, and it will probably take a bit of time for describing it and opening appropriate issue in the related repositories. However, the good news is that it occurs only if you compile a repo with BUILD_SHARED_LIBS set to OFF, if you set BUILD_SHARED_LIBS set to ON everything works fine.

@traversaro traversaro changed the title error C2491 "definition of dllimport function not allowed" on downstream package on Windows error C2491 "definition of dllimport function not allowed" on downstream package on Windows when compiled with BUILD_SHARED_LIBS set to OFF Jun 28, 2022
@traversaro traversaro mentioned this issue Jun 28, 2022
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@Tobias-Fischer
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Ah.. shouldn't we always build shared libs in our case?

@traversaro
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Ah.. shouldn't we always build shared libs in our case?

Yes, the problem is that the downstream repo (i.e. https://github.com/robotology-playground/yarp-ros2) was hardcoding BUILD_SHARED_LIBS to OFF, not a problem of our packages. Indeed, I think the issue is not related to robostack packaging at all, but I would leave it open until I open an appropraite issue upstream.

@Tobias-Fischer
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I think we can close this now that an upstream issue was created: ros2/rosidl_typesupport_fastrtps#90

@traversaro
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Sure, thanks for closing. I forgot close it myself after opening the issue upstream.

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@wolfv @traversaro @Tobias-Fischer