libceres-dev Focal arm64 build failing with failed test

[Emerson Knapp]

[Impact]

* ceres-solver's binary packages are not available on arm64 in Ubuntu Focal

* tests seem to be failing on arm64: https://launchpad.net/ubuntu/+source/ceres-solver/1.14.0-4ubuntu1/+build/19091179

* libceres is critical for robotics SLAM applications on Ubuntu, and arm64 is a very popular architecture for robotics

[Test Case]

* Simply run the existing test cases on arm64 and you'll see evaluation_callback_test fail just like in the above log

[Regression Potential]

* libceres isn't on arm64 at all, so the regression potential there is nil

* This is a test-only change, thus the only regression possible on other architectures is that the tests don't pass and the package doesn't build as a result (although note that tests pass locally just fine on amd64)

[Kyle Fazzari (kyrofa)]

Note that libceres1 is present on arm64 in Groovy (https://packages.ubuntu.com/groovy/libceres1)-- this only effects Focal.

[Kyle Fazzari (kyrofa)]

Attached is the debdiff of the patch for this issue.

[Kyle Fazzari (kyrofa)]

Sorry, last debdiff got garbled.

[Marc Deslauriers (mdeslaur)]

ACK on debdiff in comment #4, thanks!

Uploaded for processing by the SRU team.

[Kyle Fazzari (kyrofa)]

Thank you, Marc!

[Brian Murray (brian-murray)]

Hello Emerson, or anyone else affected,

Accepted ceres-solver into focal-proposed. The package will build now and be available at https://launchpad.net/ubuntu/+source/ceres-solver/1.14.0-4ubuntu1.1 in a few hours, and then in the -proposed repository.

Please help us by testing this new package. See https://wiki.ubuntu.com/Testing/EnableProposed for documentation on how to enable and use -proposed. Your feedback will aid us getting this update out to other Ubuntu users.

If this package fixes the bug for you, please add a comment to this bug, mentioning the version of the package you tested, what testing has been performed on the package and change the tag from verification-needed-focal to verification-done-focal. If it does not fix the bug for you, please add a comment stating that, and change the tag to verification-failed-focal. In either case, without details of your testing we will not be able to proceed.

Further information regarding the verification process can be found at https://wiki.ubuntu.com/QATeam/PerformingSRUVerification . Thank you in advance for helping!

N.B. The updated package will be released to -updates after the bug(s) fixed by this package have been verified and the package has been in -proposed for a minimum of 7 days.

[Kyle Fazzari (kyrofa)]

Tested using upstream ceres-solver's helloworld.cc example[1].

Unable to test for regressions on arm64 because the package wasn't available there before -proposed:

$ sudo apt install libceres-dev
Reading package lists... Done
Building dependency tree
Reading state information... Done
Package libceres-dev is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source

E: Package 'libceres-dev' has no installation candidate

Alright, testing 1.14.0-4ubuntu1.1 from -proposed:

$ g++ helloworld.cc -lceres -I /usr/include/eigen3 -lglog
ubuntu@arm64-test:~/ceres-solver/examples$ ./a.out
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
   0 4.512500e+01 0.00e+00 9.50e+00 0.00e+00 0.00e+00 1.00e+04 0 1.32e-04 5.72e-04
   1 4.511598e-07 4.51e+01 9.50e-04 9.50e+00 1.00e+00 3.00e+04 1 2.02e-04 9.69e-04
   2 5.012552e-16 4.51e-07 3.17e-08 9.50e-04 1.00e+00 9.00e+04 1 5.43e-05 1.12e-03
Ceres Solver Report: Iterations: 3, Initial cost: 4.512500e+01, Final cost: 5.012552e-16, Termination: CONVERGENCE
x : 0.5 -> 10

Looks great there. Moving on to regression testing on amd64, with version 1.14.0-4ubuntu1:

$ g++ helloworld.cc -lceres -I /usr/include/eigen3 -lglog
$ ./a.out
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
   0 4.512500e+01 0.00e+00 9.50e+00 0.00e+00 0.00e+00 1.00e+04 0 7.41e-05 7.69e-04
   1 4.511598e-07 4.51e+01 9.50e-04 9.50e+00 1.00e+00 3.00e+04 1 1.34e-04 1.03e-03
   2 5.012552e-16 4.51e-07 3.17e-08 9.50e-04 1.00e+00 9.00e+04 1 9.05e-06 1.04e-03
Ceres Solver Report: Iterations: 3, Initial cost: 4.512500e+01, Final cost: 5.012552e-16, Termination: CONVERGENCE
x : 0.5 -> 10

Now amd64, with version 1.14.0-4ubuntu1.1 from -proposed:

$ g++ helloworld.cc -lceres -I /usr/include/eigen3 -lglog
$ ./a.out
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
   0 4.512500e+01 0.00e+00 9.50e+00 0.00e+00 0.00e+00 1.00e+04 0 5.90e-05 4.02e-04
   1 4.511598e-07 4.51e+01 9.50e-04 9.50e+00 1.00e+00 3.00e+04 1 1.72e-04 6.28e-04
   2 5.012552e-16 4.51e-07 3.17e-08 9.50e-04 1.00e+00 9.00e+04 1 2.24e-05 6.74e-04
Ceres Solver Report: Iterations: 3, Initial cost: 4.512500e+01, Final cost: 5.012552e-16, Termination: CONVERGENCE
x : 0.5 -> 10

Time is of course a smidge different, but results are the same, across architectures and package versions. This looks good to me, thanks Brian!

[1]: https://github.com/ceres-solver/ceres-solver/blob/master/examples/helloworld.cc

[Emerson Knapp (emersonknapp)]

Confirmed that I could install libceres-dev from "-proposed" on ARM64 Focal and successfully use it as a build dependency for reference project Google Cartographer, which originally brought the missing package to my attention.

[Emerson Knapp (emersonknapp)]

Oh, forgot to post version number -

root@machine:/# apt-cache policy libceres-dev
libceres-dev:
  Installed: 1.14.0-4ubuntu1.1
  Candidate: 1.14.0-4ubuntu1.1
  Version table:
 *** 1.14.0-4ubuntu1.1 100
        100 /var/lib/dpkg/status

[Launchpad Janitor (janitor)]

This bug was fixed in the package ceres-solver - 1.14.0-4ubuntu1.1

---------------
ceres-solver (1.14.0-4ubuntu1.1) focal; urgency=medium

  * Reduce the number of minimizer iterations in test (LP: #1882626)

 -- Kyle Fazzari <email address hidden> Thu, 11 Jun 2020 17:02:01 -0700

[Łukasz Zemczak (sil2100)]

The verification of the Stable Release Update for ceres-solver has completed successfully and the package is now being released to -updates. Subsequently, the Ubuntu Stable Release Updates Team is being unsubscribed and will not receive messages about this bug report. In the event that you encounter a regression using the package from -updates please report a new bug using ubuntu-bug and tag the bug report regression-update so we can easily find any regressions.