Singularity build fails

[jc-cr]

Environment

• Singularity version: singularity version 3.8.0
• Host: jc-thinkpad Kernel: 6.8.0-60-generic arch: x86_64 bits: 64
• Desktop: i3 v: 4.23 Distro: Ubuntu 24.04.2 LTS (Noble Numbat)

Description

Following installation instructions from README for building the image.

After running sudo singularity build --notest nav_competition_image.sif Singularityfile.def:

-- ==> add_subdirectory(the-barn-challenge/jackal_helper)
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Checking for module 'gazebo'
--   No package 'gazebo' found
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.65.1
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   system
--   filesystem
--   regex
CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
  Could NOT find Protobuf (missing: Protobuf_INCLUDE_DIR)
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake-3.10/Modules/FindProtobuf.cmake:543 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
  the-barn-challenge/jackal_helper/CMakeLists.txt:23 (find_package)


-- Configuring incomplete, errors occurred!
See also "/jackal_ws/build/CMakeFiles/CMakeOutput.log".
See also "/jackal_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
FATAL:   While performing build: while running engine: exit status 1

[jc-cr]

I was able to get it to build and run but had to do the following changes:

For Singularityfile.def none of the dependencies were being installed so I had to manually include them in the build :

Bootstrap: docker
From: ros:melodic

%setup
    mkdir -p ${SINGULARITY_ROOTFS}/jackal_ws/src

%files
    . /jackal_ws/src/the-barn-challenge

%post -c /bin/bash
    # Update package lists
    apt -y update
    
    # Install essential build tools and Python packages
    apt-get -y install python3-pip
    apt-get -y install build-essential
    
    # Install Python dependencies directly (no venv needed in container)
    pip3 install --upgrade pip
    pip3 install defusedxml rospkg netifaces numpy
    
    # Install the missing LMS1xx laser sensor package and all other missing dependencies
    apt-get -y install ros-melodic-lms1xx
    
    # Install packages that rosdep can't resolve due to melodic being end-of-life
    apt-get -y install ros-melodic-tf2-eigen
    apt-get -y install ros-melodic-rviz
    apt-get -y install ros-melodic-gmapping
    apt-get -y install ros-melodic-hector-gazebo-plugins
    apt-get -y install ros-melodic-velodyne-description
    apt-get -y install ros-melodic-twist-mux
    apt-get -y install ros-melodic-rosdoc-lite
    apt-get -y install ros-melodic-interactive-marker-twist-server
    apt-get -y install ros-melodic-sick-tim
    apt-get -y install ros-melodic-urg-node
    apt-get -y install ros-melodic-hokuyo-node
    apt-get -y install ros-melodic-pointgrey-camera-description 
    apt-get -y install ros-melodic-laser-filters
    apt-get -y install ros-melodic-laser-geometry
    apt-get -y install ros-melodic-joint-state-publisher
    apt-get -y install ros-melodic-robot-state-publisher
    apt-get -y install ros-melodic-tf2-geometry-msgs
    apt-get -y install ros-melodic-controller-manager
    apt-get -y install ros-melodic-velocity-controllers
    apt-get -y install ros-melodic-effort-controllers
    apt-get -y install ros-melodic-joint-trajectory-controller
    apt-get -y install ros-melodic-diff-drive-controller
    apt-get -y install ros-melodic-interactive-markers
    apt-get -y install ros-melodic-urdf
    apt-get -y install ros-melodic-base-local-planner
    
    apt-get -y install ros-melodic-gazebo-ros-pkgs
    apt-get -y install ros-melodic-gazebo-ros-control
    apt-get -y install ros-melodic-navigation
    apt-get -y install ros-melodic-move-base
    apt-get -y install ros-melodic-robot-localization
    apt-get -y install ros-melodic-xacro
    
    # Clean apt cache to reduce image size
    apt-get clean
    rm -rf /var/lib/apt/lists/*
    
    # Clone required repositories
    cd /jackal_ws/src
    git clone https://github.com/jackal/jackal.git --branch melodic-devel
    git clone https://github.com/jackal/jackal_simulator.git --branch melodic-devel
    git clone https://github.com/jackal/jackal_desktop.git --branch melodic-devel
    git clone https://github.com/utexas-bwi/eband_local_planner.git
    
    # Setup ROS environment and install dependencies
    source /opt/ros/melodic/setup.bash
    cd /jackal_ws
    # rosdep may already be initialized in the base image, so handle gracefully
    rosdep update || true
    rosdep install -y --from-paths . --ignore-src --rosdistro=melodic || true
    
    # Build the workspace
    catkin_make

For singularity_run.sh I was able to run the example by removing the --nv flag as my laptop does not have a GPU. Could an additional line be added to README to give alternate run script call? Or maybe adding arguments to run script?

#!/bin/bash
singularity exec -i -n --network=none -p -B `pwd`:/jackal_ws/src/the-barn-challenge ${1} /bin/bash /jackal_ws/src/the-barn-challenge/entrypoint.sh ${@:2}

[bk1021]

you can try to change this line in Singularityfile.def:

from
rosdep init; rosdep update
to
rosdep init; rosdep update --rosdistro melodic