Segmentation fault caused by conflict between ion-kit and ROS Client Library in spdlog usage

[Fixstars-momoko]

A segmentation occurs at the end of a program when using ion-kit with the rcl in a C++ environment.

Both ion-kit and rcl utilize the spdlog::logger class and this caused ion-kit tries to access the logger instance after rcl cleans it up.

Tentatively we disabled the use of spdlog::logger by set_level, and we can test the change of the spdlog:logger in ion-kit to a local instance to avoid this conflict. Further testing is required to confirm if this solution effectively resolves this issue.

[xinyuli1204]

Summary

ion-kit and rclcpp use differing versions of spdlog, and I think it is the reason causing a segfault in program since the segmentfault doesn't happen when I don't link against ion-kit

ros2 spdlog

It looks like the ros2 logger [compiles against the system's version of spdlog]

(https://github.com/ros2/rcl_logging/blob/fc3a6f37ada01d21242eb146d1f7715a1f1e6a00/rcl_logging_spdlog/CMakeLists.txt#L17), and I think it should be the same in ion-kit。

Fix

Use (or add the option to use) the system version of spdlog in cmake. if can not found the system spdlog use our own spdlog

#334

[xinyuli1204]

built on ros2 environment #334

[xinyuli1204]

-- The C compiler identification is GNU 11.4.0
-- The CXX compiler identification is GNU 11.4.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE  
-- Halide 'host' platform triple:   x86-64-linux
-- Halide 'cmake' platform triple:  x86-64-linux
-- Halide default AOT target:       host
-- Could not find nvcc, please set CUDAToolkit_ROOT.
-- Version: v3.2.1-2-g2782713
-- Found system spdlog
Skip building "fpga"
-- Found JPEG: /usr/lib/x86_64-linux-gnu/libjpeg.so (found version "80") 
-- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.11") 
-- Found PNG: /usr/lib/x86_64-linux-gnu/libpng.so (found version "1.6.37") 
Skip building "llm"
-- Configuring done
-- Generating done
-- Build files have been written to: /ion-kit/build

[iitaku]

@xinyuli1204 Thanks for the investigation. Is this fix compatible with multiple/different version of ROS2 which may link different version of spdlog?