GTSAM Debug Symbols

[Jay Elrod]

Hi GTSAM users,

I am using GTSAM 4.1.1 on ARM64 (<a href="https://launchpad.net/~borglab/+archive/ubuntu/gtsam-release-4.1/+build/25484550">build</a>) and am trying to diagnose a segmentation fault that occurred deep in GTSAM ISAM2 code. The build log for this package indicates that CMAKE_BUILD_TYPE is RelWithDebInfo, but the package installed in my system via apt-get does not include any debugging symbols.

I have yet to successfully reproduce the exact binary with the debugging symbols on my machine. Is there a dbg version of this binary out there anywhere? If not, can it be generated from a slightly different version of this same build? Seems like if RelWithDebInfo is the build type during CMake invocation, the symbols should not be stripped off of the package.

Thanks

Jay

[Dellaert, Frank]

Hi Jay

Your best bet is probably check out 4.1.1. and compile from source with Debug?

Frank

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[Jay Elrod]

Hi Frank,

Thanks for your reply!

That is exactly what I have been trying to do. Despite having pored over the PPA build log and meticulously matching every build configuration down to each compiler flag, the stack trace after having loaded the core dump does not match the stack trace from loading the shared library downloaded from release-4.1 PPA.

Thanks

Jay

[José Luis Blanco-Claraco]

Hi,

Building and publishing debug symbol packages is actually automated in
PPA repos, but it was disabled for GTSAM PPAs.

I just enabled them for all repos under: https://launchpad.net/~borglab

After the next build is triggered, keep an eye on the list of packages
and you should see "*-dbgsym" packages, which you could "sudo apt
install" and afterwards gdb will know automatically about them when
loading the ".so".

@Bernd Pfrommer: Do you know any way to trigger a rebuild of all
packages uploaded to the PPA borglab/+archive/ubuntu/gtsam-release-4.1
? Re-running the GH action for it, maybe?

Cheers,
JL

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/**
* Jose Luis Blanco-Claraco
* Universidad de Almería - Departamento de Ingeniería
* [Homepage]( https://w3.ual.es/~jlblanco/ )
* [GH profile]( https://github.com/jlblancoc )
*/

[Bernd Pfrommer]

The PPA builds with debug symbols enabled failed. Somehow the packaging needs to change as well. I'll look into it.

[Bernd Pfrommer]

OK, succeeded now. Please try downloading the relevant ".ddeb" packages for your specific ubuntu distro from here:

https://launchpad.net/~borglab/+archive/ubuntu/gtsam-release-4.1/+packages

[José Luis Blanco-Claraco]

I found how to "teach" APT that the PPA also serves ".ddeb" debug
packages: one needs to add a second line with "main/debug" to the apt
source file.

Should this be added to the README somewhere?
@Bernd: Or this could be added to the "PPA description" text field?

Example:
===========================
$ cat /etc/apt/sources.list.d/borglab-ubuntu-gtsam-release-4_1-jammy.list
deb https://ppa.launchpadcontent.net/borglab/gtsam-release-4.1/ubuntu/
jammy main
deb https://ppa.launchpadcontent.net/borglab/gtsam-release-4.1/ubuntu/
jammy main/debug

$ sudo apt update
$ sudo apt install libgtsam4-dbgsym
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
libgtsam4
The following NEW packages will be installed:
libgtsam4 libgtsam4-dbgsym
0 upgraded, 2 newly installed, 0 to remove and 14 not upgraded.
Need to get 121 MB of archives.
===========================

JL

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[Jay Elrod]

Awesome, thank you! I will give it a shot with dbgsym!

To view this discussion on the web visit https://groups.google.com/d/msgid/gtsam-users/CADEiKfjoV_yWvumVRWZEMgnAJ4m28FgtY%3Dy_ZYQvxNT7B6W4HA%40mail.gmail.com.

[Jay Elrod]

Hi again,

Looks like the dbgsym builds for 4.1 were added for jammy distribution but maybe not focal? Can we do the same for focal as well?

Thanks!

Jay

[Bernd Pfrommer]

I managed to install the debug symbol package under focal on x86-64. Following @jlblanco's suggestion the process how to install the debug symbols is documented now in the package description:
https://launchpad.net/~borglab/+archive/ubuntu/gtsam-release-4.1

I suppose it works because in gdb I get what looks like symbol information:

Thread 1 "tagslam_node" received signal SIGINT, Interrupt.                                                
0x00007ffff6e7e8e9 in gtsam::BayesTreeCliqueBase<gtsam::ISAM2Clique, gtsam::GaussianFactorGraph>::deleteCachedShortcuts() () from /lib/x86_64-linux-gnu/libgtsam.so.4
(gdb) where                                                                                              
#0  0x00007ffff6e7e8e9 in gtsam::BayesTreeCliqueBase<gtsam::ISAM2Clique, gtsam::GaussianFactorGraph>::deleteCachedShortcuts() () from /lib/x86_64-linux-gnu/libgtsam.so.4
#1  0x00007ffff6e736b9 in gtsam::BayesTree<gtsam::ISAM2Clique>::removeTop(std::vector<unsigned long, tbb::tbb_allocator<unsigned long> > const&, gtsam::GaussianBayesNet*, gtsam::FastList<boost::shared_ptr<gtsam::ISAM2Clique> >*) () from /lib/x86_64-linux-gnu/libgtsam.so.4
#2  0x00007ffff6e606d5 in gtsam::ISAM2::recalculate(gtsam::ISAM2UpdateParams const&, gtsam::FastSet<unsigned long> const&, gtsam::ISAM2Result*) () from /lib/x86_64-linux-gnu/libgtsam.so.4
#3  0x00007ffff6e62165 in gtsam::ISAM2::update(gtsam::NonlinearFactorGraph const&, gtsam::Values const&, gtsam::ISAM2UpdateParams const&) () from /lib/x86_64-linux-gnu/libgtsam.so.4
#4  0x00007ffff6e60d16 in gtsam::ISAM2::update(gtsam::NonlinearFactorGraph const&, gtsam::Values const&, std::vector<unsigned long, tbb::tbb_allocator<unsigned long> > const&, boost::optional<gtsam::FastMap<unsigned long, int> > const&, boost::optional<gtsam::FastList<unsigned long> > const&, boost::optional<gtsam::FastList<unsigned long> > const&, bool) () from /lib/x86_64-linux-gnu/libgtsam.so.4