RaiSim 2.4.2 binaries are not compatible with Ubuntu 22.04

[hajicastle]

Ubuntu 22.04 build fails because RaiSim 2.4.2 binaries require GLIBC 2.38 and GLIBCXX 3.4.32

Description

I am trying to build RaiSim2 on Ubuntu 22.04, which is listed in the installation documentation as a supported platform:

Linux: Ubuntu 22.04 or newer is recommended. x86 builds require AVX2.

However, the current RaiSim 2.4.2 prebuilt libraries appear to require newer GLIBC and libstdc++ symbols that are not available on a standard Ubuntu 22.04 installation.

The build reaches the linking stage, but fails with references to GLIBC_2.38, GLIBCXX_3.4.31, and GLIBCXX_3.4.32.

Environment

• OS: Ubuntu 22.04 LTS
• Architecture: x86_64
• CPU AVX2 support: Yes
• Python: 3.10
• RaiSim version: 2.4.2
• Compiler: GCC/G++ from the standard Ubuntu 22.04 repositories
• GLIBC version: 2.35
• Build type: Release
• Repository: raisimTech/raisim2Lib
• Commit: <paste output of git rev-parse HEAD>

Steps to reproduce

git clone https://github.com/raisimTech/raisim2Lib.git
cd raisim2Lib

git submodule update --init --recursive

source ./raisim_env.sh

rm -rf build

cmake -S . -B build \
  -DCMAKE_BUILD_TYPE=Release \
  -DRAISIM_EXAMPLE=ON \
  -DRAISIM_PY=ON

cmake --build build -j2

Actual result

The compilation succeeds, but linking the examples fails:

/usr/bin/ld: ../../raisim/lib/libassimpd.so.6.0.2: undefined reference to `__isoc23_strtoull@GLIBC_2.38'
/usr/bin/ld: ../../raisim/lib/libraisimd.so.2.4.2: undefined reference to `__isoc23_sscanf@GLIBC_2.38'
/usr/bin/ld: ../../raisim/lib/libraisimd.so.2.4.2: undefined reference to `__isoc23_strtoul@GLIBC_2.38'
/usr/bin/ld: ../../raisim/lib/libraisimd.so.2.4.2: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_replace_cold(char*, unsigned long, char const*, unsigned long, unsigned long)@GLIBCXX_3.4.31'
/usr/bin/ld: ../../raisim/lib/openusd/libusd_gf.so: undefined reference to `fmodf@GLIBC_2.38'
/usr/bin/ld: ../../raisim/lib/libraisimd.so.2.4.2: undefined reference to `std::ios_base_library_init()@GLIBCXX_3.4.32'
/usr/bin/ld: ../../raisim/lib/libraisimd.so.2.4.2: undefined reference to `__isoc23_strtol@GLIBC_2.38'
/usr/bin/ld: ../../raisim/lib/libraisimd.so.2.4.2: undefined reference to `fmod@GLIBC_2.38'
collect2: error: ld returned 1 exit status

The same issue occurs while linking both sphere_drop and primitive_grid.

Expected result

The examples should build successfully on a standard Ubuntu 22.04 installation, because Ubuntu 22.04 is listed as a recommended supported platform.

Additional checks

Ubuntu version:

cat /etc/os-release

GLIBC version:

ldd --version | head -n 1

AVX2 support:

grep -m1 -o avx2 /proc/cpuinfo

Required symbol versions in the provided RaiSim libraries can also be checked with:

readelf --version-info raisim/lib/libraisim.so.2.4.2 \
  | grep -E 'GLIBC_2.38|GLIBCXX_3.4.3[12]'

readelf --version-info raisim/lib/libraisimd.so.2.4.2 \
  | grep -E 'GLIBC_2.38|GLIBCXX_3.4.3[12]'

Possible cause

It appears that the distributed Linux binaries may have been built on a newer Linux environment, possibly one providing GLIBC 2.38 and GCC/libstdc++ symbols up to GLIBCXX 3.4.32.

Ubuntu 22.04 normally provides GLIBC 2.35, so binaries that directly depend on GLIBC 2.38 cannot be linked or executed there.

Could you please confirm whether the current RaiSim 2.4.2 Linux binaries are intended to support Ubuntu 22.04?

If Ubuntu 22.04 is still supported, could you provide binaries built against the Ubuntu 22.04 toolchain or an older compatible GLIBC version?

[jhwangbo]

Maybe I accidently released it with non-docker mode. I'll check it tonight

[jhwangbo]

it should be fixed now. my new docker script was using ubuntu 24.04. not set it to 22.04 and release it again

[iamchoking]

Hello! I am still getting the same problem with the 2.4.3 release as well!

RaiSim 2.4.3 linux-x86 binaries require GLIBC 2.38 / GLIBCXX 3.4.32 on Ubuntu 22.04

Description

I am seeing the same Ubuntu 22.04 compatibility issue reported in #3, but with the v2.4.3 linux-x86 release asset.

The package downloads and unpacks correctly for my machine architecture (x86_64), but linking the examples fails because the provided RaiSim2 shared libraries require newer runtime symbols than a standard Ubuntu 22.04 installation provides.

Environment

• OS: Ubuntu 22.04.5 LTS (Jammy Jellyfish)
• Architecture: x86_64
• CPU AVX2 support: yes
• RaiSim2 version: 2.4.3
• Release asset: linux-x86-2.4.3.zip
• Asset size: 87162268 bytes
• Repository commit: d8ddfbf5943316cbc7157fdafe92e36920ce773a
• GLIBC version: ldd (Ubuntu GLIBC 2.35-0ubuntu3.13) 2.35
• GCC: gcc (Ubuntu 11.4.0-1ubuntu1~22.04.3) 11.4.0
• G++: g++ (Ubuntu 11.4.0-1ubuntu1~22.04.3) 11.4.0

The downloaded libraries are the correct architecture:

/home/chh-railab/raisim_ws/raisim2Lib/raisim/lib/libraisim.so.2.4.3: ELF 64-bit LSB shared object, x86-64
/home/chh-railab/raisim_ws/raisim2Lib/raisim/lib/libassimp.so.6.0.2: ELF 64-bit LSB shared object, x86-64

Steps to reproduce

git clone https://github.com/raisimTech/raisim2Lib.git
cd raisim2Lib

source ./raisim_env.sh

rm -rf build
cmake -S . -B build -DRAISIM_EXAMPLE=ON
cmake --build build -j

Actual result

The build reaches the link stage and fails with missing GLIBC_2.38, GLIBCXX_3.4.31, and GLIBCXX_3.4.32 symbols:

/usr/bin/ld: ../../raisim/lib/libassimpd.so.6.0.2: undefined reference to `__isoc23_strtoull@GLIBC_2.38'
/usr/bin/ld: ../../raisim/lib/libraisimd.so.2.4.3: undefined reference to `__isoc23_sscanf@GLIBC_2.38'
/usr/bin/ld: ../../raisim/lib/libraisimd.so.2.4.3: undefined reference to `__isoc23_strtoul@GLIBC_2.38'
/usr/bin/ld: ../../raisim/lib/libraisimd.so.2.4.3: undefined reference to `std::ios_base_library_init()@GLIBCXX_3.4.32'
/usr/bin/ld: ../../raisim/lib/libraisimd.so.2.4.3: undefined reference to `__isoc23_strtol@GLIBC_2.38'
/usr/bin/ld: ../../raisim/lib/libraisimd.so.2.4.3: undefined reference to `fmod@GLIBC_2.38'
/usr/bin/ld: ../../raisim/lib/openusd/./libusd_gf.so: undefined reference to `fmodf@GLIBC_2.38'
collect2: error: ld returned 1 exit status

This occurs while linking examples such as material_restitution, dynamic_object_addition, sphere_drop, primitive_grid, and others.

Additional checks

The initial failed build used the default CMake build type and therefore linked debug libraries such as libraisimd.so and libassimpd.so.

However, the release libraries appear to have the same system-runtime requirement. For example:

readelf -V raisim/lib/libraisim.so.2.4.3 \
  | grep -E 'GLIBC_2.38|GLIBCXX_3.4.3[12]'

readelf -V raisim/lib/libassimp.so.6.0.2 \
  | grep -E 'GLIBC_2.38|GLIBCXX_3.4.3[12]'

shows that libraisim.so.2.4.3 requires:

GLIBC_2.38
GLIBCXX_3.4.31
GLIBCXX_3.4.32

and libassimp.so.6.0.2 requires:

GLIBC_2.38
GLIBCXX_3.4.32

I also compared older linux-x86 release binaries locally. The apparent compatibility break is between 2.3.0 and 2.4.0:

Version	Max GLIBC_* observed	Max GLIBCXX_* observed	Ubuntu 22.04 fit
2.0.1	GLIBC_2.33	GLIBCXX_3.4.29	yes
2.1.0	GLIBC_2.33	GLIBCXX_3.4.29	yes
2.2.0	GLIBC_2.33	GLIBCXX_3.4.29	yes
2.3.0	GLIBC_2.33	GLIBCXX_3.4.29	yes
2.4.0	GLIBC_2.38	GLIBCXX_3.4.32	no
2.4.3	GLIBC_2.38	GLIBCXX_3.4.32	no

Expected result

The linux-x86 binary package should either:

1. build and run on Ubuntu 22.04 if Ubuntu 22.04 is intended to be supported, or
2. document that the current 2.4.x Linux binaries require a newer userspace, such as a distribution providing GLIBC_2.38+ and GLIBCXX_3.4.32+.

Request

Could you please confirm the minimum supported Linux distribution / GLIBC / libstdc++ version for the linux-x86 RaiSim2 2.4.x binaries?

If Ubuntu 22.04 is still intended to be supported, would it be possible to provide linux-x86 binaries built against an Ubuntu 22.04-compatible toolchain?