autoware.universe 编译踩坑

fmt相关

版本选择: 8.1.1
下载链接：https://github.com/fmtlib/fmt/releases

报错一

undefined reference to `fmt::v8::vformat[abi:cxx11](fmt::v8::basic_string_view, fmt::v8::basic_format_args<fmt::v8::basic_format_context<fmt::v8::appender, char> >)’

打开代码，添加头文件如下：
添加头文件：#define FMT_HEADER_ONLY

#define FMT_HEADER_ONLY 
#include <fmt/format.h>

报错二

— stderr: system_monitor
/usr/bin/ld: /usr/local/lib/libfmt.a(format.cc.o): relocation R_X86_64_PC32 against symbol `stderr@@GLIBC_2.2.5’ can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: final link failed: bad value
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/cpu_monitor_lib.dir/build.make:338: libcpu_monitor_lib.so] Error 1
make[1]: *** [CMakeFiles/Makefile2:570: CMakeFiles/cpu_monitor_lib.dir/all] Error 2

重新编译fmt，添加选项：-DCMAKE_POSITION_INDEPENDENT_CODE=TRUE
1.卸载：

cd build
sudo xargs rm < install_manifest.txt

2.重新编译：

mkdir build
cd build
cmake -DCMAKE_POSITION_INDEPENDENT_CODE=TRUE .. 
sudo make install