系统：Ubuntu 18.04
我正试图使用Bazel从源代码构建Drake，我已经使用提供的install_prereqs.sh安装了必备组件。然而，当我试图从源代码构建drake时，我遇到了一个奇怪的问题。它与tools/workspace/pybind11/mkdoc.py文件和//bindings/pydrake:generate_pybind_coverage目标有关。终端输出如下所示。
在我运行之后
bazel build //bindings/pydrake:generate_pybind_coverage
返回错误
INFO: Analyzed target //bindings/pydrake:generate_pybind_coverage (0 packages loaded, 0 targets configured).
INFO: Found 1 target...
ERROR: /home/chenwang/drake/bindings/pydrake/BUILD.bazel:57:37: Action bindings/pydrake/documentation_pybind.h failed: (Exit 1): mkdoc failed: error executing command bazel-out/host/bin/tools/workspace/pybind11/mkdoc -DDRAKE_COMMON_SYMBOLIC_DETAIL_HEADER -DEIGEN_MPL2_ONLY -DHAVE_CSTDDEF '-DFMT_HEADER_ONLY=1' '-DFMT_NO_FMT_STRING_ALIAS=1' -DHAVE_SPDLOG ... (remaining 804 argument(s) skipped)
Use --sandbox_debug to see verbose messages from the sandbox
bazel-out/k8-opt/bin/bindings/pydrake/documentation_pybind.h.tmp_artifacts/mkdoc_glue.h:1:10: fatal error: 'optional' file not found
clang version 9.0.0-2~ubuntu18.04.2 (tags/RELEASE_900/final)
Target: x86_64-pc-linux-gnu
Thread model: posix
InstalledDir:
"clang" "-cc1" "-triple" "x86_64-pc-linux-gnu" "-fsyntax-only" "-disable-free" "-disable-llvm-verifier" "-discard-value-names" "-main-file-name" "foo" "-mrelocation-model" "static" "-mthread-model" "posix" "-mdisable-fp-elim" "-fallow-editor-placeholders" "-fmath-errno" "-masm-verbose" "-mconstructor-aliases" "-munwind-tables" "-fuse-init-array" "-target-cpu" "x86-64" "-dwarf-column-info" "-debugger-tuning=gdb" "-resource-dir" "lib/clang/9.0.0" "-isystem" "lcmtypes" "-isystem" "bazel-out/k8-opt/bin/lcmtypes" "-isystem" "external/lcm" "-isystem" "bazel-out/k8-opt/bin/external/lcm" "-isystem" "external/lcm/lcm" "-isystem" "bazel-out/k8-opt/bin/external/lcm/lcm" "-isystem" "external/eigen/include/_usr_include_eigen3" "-isystem" "bazel-out/k8-opt/bin/external/eigen/include/_usr_include_eigen3" "-isystem" "external/fmt/include" "-isystem" "bazel-out/k8-opt/bin/external/fmt/include" "-isystem" "external/optitrack_driver/lcmtypes" "-isystem" 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"external/ibex/src/parser" "-isystem" "bazel-out/k8-opt/bin/external/ibex/src/parser" "-isystem" "external/ibex/src/predicate" "-isystem" "bazel-out/k8-opt/bin/external/ibex/src/predicate" "-isystem" "external/ibex/src/set" "-isystem" "bazel-out/k8-opt/bin/external/ibex/src/set" "-isystem" "external/ibex/src/solver" "-isystem" "bazel-out/k8-opt/bin/external/ibex/src/solver" "-isystem" "external/ibex/src/strategy" "-isystem" "bazel-out/k8-opt/bin/external/ibex/src/strategy" "-isystem" "external/ibex/src/symbolic" "-isystem" "bazel-out/k8-opt/bin/external/ibex/src/symbolic" "-isystem" "external/ibex/src/system" "-isystem" "bazel-out/k8-opt/bin/external/ibex/src/system" "-isystem" "external/ibex/src/tools" "-isystem" "bazel-out/k8-opt/bin/external/ibex/src/tools" "-isystem" "external/ibex/interval_lib_wrapper/filib" "-isystem" "bazel-out/k8-opt/bin/external/ibex/interval_lib_wrapper/filib" "-isystem" "external/ibex/lp_lib_wrapper/clp" "-isystem" "bazel-out/k8-opt/bin/external/ibex/lp_lib_wrapper/clp" "-isystem" "external/ibex/src" "-isystem" "bazel-out/k8-opt/bin/external/ibex/src" "-isystem" "external/ibex/filibsrc-3.0.2.2" "-isystem" "bazel-out/k8-opt/bin/external/ibex/filibsrc-3.0.2.2" "-isystem" "external/ibex" "-isystem" "bazel-out/k8-opt/bin/external/ibex" "-isystem" "external/ipopt/include/_usr_include_coin" "-isystem" "bazel-out/k8-opt/bin/external/ipopt/include/_usr_include_coin" "-isystem" "external/vtk/include/vtk-8.2" "-isystem" "bazel-out/k8-opt/bin/external/vtk/include/vtk-8.2" "-isystem" "external/double_conversion/include" "-isystem" "bazel-out/k8-opt/bin/external/double_conversion/include" "-isystem" "external/libtiff/include/_usr_include_x86_64-linux-gnu" "-isystem" "bazel-out/k8-opt/bin/external/libtiff/include/_usr_include_x86_64-linux-gnu" "-isystem" "external/libjpeg/include" "-isystem" "bazel-out/k8-opt/bin/external/libjpeg/include" "-isystem" "external/libpng/include/_usr_include_libpng16" "-isystem" "bazel-out/k8-opt/bin/external/libpng/include/_usr_include_libpng16" "-isystem" "external/glew/include/_usr_include_libdrm" "-isystem" "bazel-out/k8-opt/bin/external/glew/include/_usr_include_libdrm" "-isystem" "external/opengl/include" "-isystem" "bazel-out/k8-opt/bin/external/opengl/include" "-isystem" "external/spdlog/include" "-isystem" "bazel-out/k8-opt/bin/external/spdlog/include" "-isystem" "external/yaml_cpp/include" "-isystem" "bazel-out/k8-opt/bin/external/yaml_cpp/include" "-isystem" "external/boost" "-isystem" "bazel-out/k8-opt/bin/external/boost" "-iquote" "." "-iquote" "bazel-out/k8-opt/bin" "-iquote" "external/lcm" "-iquote" "bazel-out/k8-opt/bin/external/lcm" "-iquote" "external/eigen" "-iquote" "bazel-out/k8-opt/bin/external/eigen" "-iquote" "external/fmt" "-iquote" "bazel-out/k8-opt/bin/external/fmt" "-iquote" "external/optitrack_driver" "-iquote" "bazel-out/k8-opt/bin/external/optitrack_driver" "-iquote" "external/clp" "-iquote" "bazel-out/k8-opt/bin/external/clp" "-iquote" "external/nlopt" "-iquote" "bazel-out/k8-opt/bin/external/nlopt" "-iquote" "external/ibex" "-iquote" "bazel-out/k8-opt/bin/external/ibex" "-iquote" "external/ipopt" "-iquote" "bazel-out/k8-opt/bin/external/ipopt" "-iquote" "external/vtk" "-iquote" "bazel-out/k8-opt/bin/external/vtk" "-iquote" "external/double_conversion" "-iquote" "bazel-out/k8-opt/bin/external/double_conversion" "-iquote" "external/liblz4" "-iquote" "bazel-out/k8-opt/bin/external/liblz4" "-iquote" "external/liblzma" "-iquote" "bazel-out/k8-opt/bin/external/liblzma" "-iquote" "external/zlib" "-iquote" "bazel-out/k8-opt/bin/external/zlib" "-iquote" "external/libtiff" "-iquote" "bazel-out/k8-opt/bin/external/libtiff" "-iquote" "external/libjpeg" "-iquote" "bazel-out/k8-opt/bin/external/libjpeg" "-iquote" "external/libpng" "-iquote" "bazel-out/k8-opt/bin/external/libpng" "-iquote" "external/glew" "-iquote" "bazel-out/k8-opt/bin/external/glew" "-iquote" "external/opengl" "-iquote" "bazel-out/k8-opt/bin/external/opengl" "-iquote" "external/x11" "-iquote" "bazel-out/k8-opt/bin/external/x11" "-iquote" "external/spdlog" "-iquote" "bazel-out/k8-opt/bin/external/spdlog" "-iquote" "external/tinyxml2" "-iquote" "bazel-out/k8-opt/bin/external/tinyxml2" "-iquote" "external/yaml_cpp" "-iquote" "bazel-out/k8-opt/bin/external/yaml_cpp" "-iquote" "external/boost" "-iquote" "bazel-out/k8-opt/bin/external/boost" "-D" "__MKDOC_PY__" "-D" "DRAKE_COMMON_SYMBOLIC_DETAIL_HEADER" "-D" "EIGEN_MPL2_ONLY" "-D" "HAVE_CSTDDEF" "-D" "FMT_HEADER_ONLY=1" "-D" "FMT_NO_FMT_STRING_ALIAS=1" "-D" "HAVE_SPDLOG" "-D" "SPDLOG_COMPILED_LIB" "-D" "SPDLOG_FMT_EXTERNAL" "-I" "bazel-out/k8-opt/bin/tools/install/libdrake/_virtual_includes/drake_headers" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/lcmtypes_drake_cc" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/acrobot" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/allegro" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/call_python" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/experimental_deformable_mesh" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/point" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/point_cloud" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/header" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/quaternion" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/image" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/image_array" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/contact_results_for_viz" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/hydroelastic_contact_surface_for_viz" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/hydroelastic_quadrature_per_point_data_for_viz" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/point_pair_contact_info_for_viz" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/drake_signal" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/iiwa" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/jaco" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/panda" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/planar_manipuland_status" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/planar_gripper" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/robot_plan" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/schunk" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/scope" "-I" "bazel-out/k8-opt/bin/lcmtypes/_virtual_includes/viewer" "-I" "bazel-out/k8-opt/bin/common/_virtual_includes/drake_marker_shared_library" "-internal-isystem" "/usr/lib/gcc/x86_64-linux-gnu/9/../../../../include/c++" "-internal-isystem" "/usr/lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/x86_64-linux-gnu" "-internal-isystem" "/usr/lib/gcc/x86_64-linux-gnu/9/../../../../include/c++/backward" "-internal-isystem" "/usr/local/include" "-internal-isystem" "/usr/include/clang/9.0.0/include/" "-internal-externc-isystem" "/usr/include/x86_64-linux-gnu" "-internal-externc-isystem" "/include" "-internal-externc-isystem" "/usr/include" "-w" "-std=c++17" "-fdeprecated-macro" "-fdebug-compilation-dir" "/home/chenwang/.cache/bazel/_bazel_chenwang/2c3519edab348856fe150dd7d2828b4a/sandbox/linux-sandbox/7/execroot/drake" "-ferror-limit" "19" "-fmessage-length" "0" "-fobjc-runtime=gcc" "-fcxx-exceptions" "-fexceptions" "-fdiagnostics-show-option" "-fno-spell-checking" "-faddrsig" "-x" "c++" "foo"
Traceback (most recent call last):
File "/home/chenwang/.cache/bazel/_bazel_chenwang/2c3519edab348856fe150dd7d2828b4a/sandbox/linux-sandbox/7/execroot/drake/bazel-out/host/bin/tools/workspace/pybind11/mkdoc.runfiles/drake/tools/workspace/pybind11/mkdoc.py", line 858, in <module>
main()
File "/home/chenwang/.cache/bazel/_bazel_chenwang/2c3519edab348856fe150dd7d2828b4a/sandbox/linux-sandbox/7/execroot/drake/bazel-out/host/bin/tools/workspace/pybind11/mkdoc.runfiles/drake/tools/workspace/pybind11/mkdoc.py", line 811, in main
("The operating system's C++ standard library is not "
RuntimeError: The operating system's C++ standard library is not installed correctly.
----------------
Note: The failure of target //tools/workspace/pybind11:mkdoc (with exit code 1) may have been caused by the fact that it is running under Python 3 instead of Python 2. Examine the error to determine if that appears to be the problem. Since this target is built in the host configuration, the only way to change its version is to set --host_force_python=PY2, which affects the entire build.
If this error started occurring in Bazel 0.27 and later, it may be because the Python toolchain now enforces that targets analyzed as PY2 and PY3 run under a Python 2 and Python 3 interpreter, respectively. See https://github.com/bazelbuild/bazel/issues/7899 for more information.
----------------
Target //bindings/pydrake:generate_pybind_coverage failed to build
Use --verbose_failures to see the command lines of failed build steps.
INFO: Elapsed time: 1.515s, Critical Path: 1.34s
INFO: 2 processes: 2 internal.
FAILED: Build did NOT complete successfully
原因似乎是Clang找不到<可选。h>文件但是，我确信我已经安装了Clang，并且有/usr/lib/x86_64-linux-gnu/libclang-9.so文件。我已经重新安装了Clang、llvm和gcc，但问题仍然存在。
非常感谢你的帮助！
抱怨的是C++标准库，即libstc++及其头文件。Clang编译器本身似乎安装正确，但它正在寻找GCC标准C++库，但失败了。
问题可能是安装了GCC 10(或部分安装(。
是否https://github.com/RobotLocomotion/drake/issues/15652建议帮助？具体而言：
sudo apt remove cpp-10 g++-10 gcc-10 libasan6 libgcc-10-dev libstdc++-10-dev
可能完全安装g++-10(而不仅仅是gcc-10(也会解决这个问题。我不确定。