在OpenSUSE中集成Drake时出现external/mumps_internal/BUILD.bazel错误

问题概述 #

在OpenSUSE 15.4环境下构建Drake仿真工具，已安装系统级libmumps5和mumps-devel库，但执行cmake ..和make install时触发Bazel构建错误，提示mumps_internal的glob模式匹配失败，且找不到dmumps_seq目标。

执行的构建步骤 #

1. 进入Drake项目的cmake目录：cd ~/drake/cmake
2. 运行CMake配置：cmake ..
3. 执行安装：make install

错误日志 #

ERROR: Traceback (most recent call last):
File "/home/dan/.cache/bazel/bazel/7ea85213ca47cc67b02970ecea7788b3/external/mumps_internal/BUILD.bazel", line 9, column 16, in
hdrs = glob([
Error in glob: glob pattern 'include/**' didn't match anything, but allow_empty is set to False (the default value of allow_empty can be set with --incompatible_disallow_empty_glob).
ERROR: /home/dan/.cache/bazel/bazel/7ea85213ca47cc67b02970ecea7788b3/external/ipopt_internal_fromsource/BUILD.bazel:347:16: no such target '@mumps_internal//:dmumps_seq': target 'dmumps_seq' not declared in package '' defined by /home/dan/.cache/bazel/bazel/7ea85213ca47cc67b02970ecea7788b3/external/mumps_internal/BUILD.bazel (Tip: use query "@mumps_internal//:*" to see all the targets in that package) and referenced by '@ipopt_internal_fromsource//:ipopt'

错误复现步骤 #

• 克隆仓库：git clone https://github.com/hedaniel7/Drake-OpenSUSE-Integration
• 进入仓库目录：cd Drake-OpenSUSE-Integration
• 切换到指定提交：git checkout f0bc814fd00f07a0a686ccf1509022a4719d484b
• 构建Docker镜像：docker-compose build --no-cache（Surface Book 3、Ubuntu 22.04环境下耗时约560秒）
• 运行容器：docker-compose run drake-opensuse

解决方案 #

1. 强制使用系统MUMPS库 #

Drake默认会从源码构建MUMPS依赖，但你已安装系统级库，只需在CMake配置时添加参数跳过源码构建：

cmake .. -DUSE_SYSTEM_MUMPS=ON

该参数会让Drake直接链接到已安装的libmumps5和mumps-devel，避免Bazel尝试构建源码版MUMPS。

2. 手动指定库路径（可选） #

如果CMake无法自动识别MUMPS的安装路径，可手动指定头文件和库目录：

cmake .. -DUSE_SYSTEM_MUMPS=ON \
  -DMUMPS_INCLUDE_DIR=/usr/include/mumps \
  -DMUMPS_LIBRARY_DIR=/usr/lib64

（OpenSUSE 15.4的MUMPS通常安装在上述路径，若实际路径不同需调整）

3. 清理构建缓存 #

之前的Bazel缓存已包含失败的构建状态，需清理后重新配置：

rm -rf ~/drake/cmake
mkdir ~/drake/cmake
cd ~/drake/cmake
# 执行上述带参数的cmake命令

内容的提问来源于stack exchange，提问作者Daniel He