Build fails on Ubuntu 22.04 (Jammy) with both `clang-12` and `g++-12` — missing GCC toolchain + ICEs in Abseil when IPO/LTO is enabled

[Debojit-D]

Description

I’m trying to build mujoco_mpc on Ubuntu 22.04 in a Conda env (mj, Python 3.10). The README mentions MJPC is tested on Ubuntu 20.04 with clang-12 and provides a clang-12 toolchain example. On 22.04, I consistently hit:

1. C toolchain “cannot find crtbegin.o / -lgcc” when configuring with clang-12 (appears related to GCC toolchain detection when running under Conda CMake), and
2. After working around that, internal compiler errors / segfaults while compiling Abseil (and other deps) with C++20 when interprocedural optimization / LTO is on (ThinLTO with clang, auto LTO with GCC).

Links for context:

• README install matrix & clang-12 toolchain example (Ubuntu 20.04): ([GitHub][1])
• Note that gRPC is a large dependency: ([GitHub][1])
• CMake IPO flag (CMAKE_INTERPROCEDURAL_OPTIMIZATION) reference: ([GitLab][2])

Environment

• OS: Ubuntu 22.04.4 LTS (Jammy)

• Compiler(s):

  • clang-12 (Ubuntu clang version 12.0.1-19ubuntu3)
  • gcc/g++-12 (12.3.0-1ubuntu1~22.04.2)

• CMake: 3.31.8 (from Conda, visible as /home/.../miniconda3/envs/mj/share/cmake-3.31)

• Ninja: from Conda

• Conda env: mj (Python 3.10.18)

• Packages installed via APT (subset): build-essential, libstdc++-12-dev, libgcc-12-dev, g++-12, clang-12, libc6-dev

[Debojit-D]

[151/3094] Building CXX object _deps/abseil-cpp-build/absl/status/CMakeFiles/status.dir/status_payload_printer.cc.o
FAILED: [code=139] _deps/abseil-cpp-build/absl/status/CMakeFiles/status.dir/status_payload_printer.cc.o
/usr/bin/clang++-12 -I/home/iitgn-robotics/Debojit_WS/mujoco_mpc/build/_deps/abseil-cpp-src -fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/iitgn-robotics/miniconda3/envs/mj/include -O3 -DNDEBUG -std=c++20 -flto=thin -fPIC -fvisibility=hidden -fvisibility-inlines-hidden -fdata-sections -ffunction-sections -Wall -Wextra -Wcast-qual -Wconversion -Wfloat-overflow-conversion -Wfloat-zero-conversion -Wfor-loop-analysis -Wformat-security -Wgnu-redeclared-enum -Winfinite-recursion -Winvalid-constexpr -Wliteral-conversion -Wmissing-declarations -Woverlength-strings -Wpointer-arith -Wself-assign -Wshadow-all -Wshorten-64-to-32 -Wsign-conversion -Wstring-conversion -Wtautological-overlap-compare -Wtautological-unsigned-zero-compare -Wundef -Wuninitialized -Wunreachable-code -Wunused-comparison -Wunused-local-typedefs -Wunused-result -Wvla -Wwrite-strings -Wno-float-conversion -Wno-implicit-float-conversion -Wno-implicit-int-float-conversion -Wno-unknown-warning-option -DNOMINMAX -MD -MT _deps/abseil-cpp-build/absl/status/CMakeFiles/status.dir/status_payload_printer.cc.o -MF _deps/abseil-cpp-build/absl/status/CMakeFiles/status.dir/status_payload_printer.cc.o.d -o _deps/abseil-cpp-build/absl/status/CMakeFiles/status.dir/status_payload_printer.cc.o -c /home/iitgn-robotics/Debojit_WS/mujoco_mpc/build/_deps/abseil-cpp-src/absl/status/status_payload_printer.cc
PLEASE submit a bug report to https://bugs.llvm.org/ and include the crash backtrace, preprocessed source, and associated run script.
Stack dump:
0. Program arguments: /usr/bin/clang++-12 -I/home/iitgn-robotics/Debojit_WS/mujoco_mpc/build/_deps/abseil-cpp-src -fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/iitgn-robotics/miniconda3/envs/mj/include -O3 -DNDEBUG -std=c++20 -flto=thin -fPIC -fvisibility=hidden -fvisibility-inlines-hidden -fdata-sections -ffunction-sections -Wall -Wextra -Wcast-qual -Wconversion -Wfloat-overflow-conversion -Wfloat-zero-conversion -Wfor-loop-analysis -Wformat-security -Wgnu-redeclared-enum -Winfinite-recursion -Winvalid-constexpr -Wliteral-conversion -Wmissing-declarations -Woverlength-strings -Wpointer-arith -Wself-assign -Wshadow-all -Wshorten-64-to-32 -Wsign-conversion -Wstring-conversion -Wtautological-overlap-compare -Wtautological-unsigned-zero-compare -Wundef -Wuninitialized -Wunreachable-code -Wunused-comparison -Wunused-local-typedefs -Wunused-result -Wvla -Wwrite-strings -Wno-float-conversion -Wno-implicit-float-conversion -Wno-implicit-int-float-conversion -Wno-unknown-warning-option -DNOMINMAX -MD -MT _deps/abseil-cpp-build/absl/status/CMakeFiles/status.dir/status_payload_printer.cc.o -MF _deps/abseil-cpp-build/absl/status/CMakeFiles/status.dir/status_payload_printer.cc.o.d -o _deps/abseil-cpp-build/absl/status/CMakeFiles/status.dir/status_payload_printer.cc.o -c /home/iitgn-robotics/Debojit_WS/mujoco_mpc/build/_deps/abseil-cpp-src/absl/status/status_payload_printer.cc

1. /usr/bin/../lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/max_size_type.h:526:30: current parser token ';'
2. /usr/bin/../lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/max_size_type.h:48:1: parsing namespace 'std'
3. /usr/bin/../lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/max_size_type.h:55:1: parsing namespace 'std::ranges'
4. /usr/bin/../lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/max_size_type.h:57:3: parsing namespace 'std::ranges::__detail'
5. /usr/bin/../lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/max_size_type.h:440:5: parsing struct/union/class body 'std::ranges::__detail::__max_diff_type'
6. /usr/bin/../lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/max_size_type.h:524:7: parsing function body 'std::ranges::__detail::__max_diff_type::operator/='
7. /usr/bin/../lib/gcc/x86_64-linux-gnu/12/../../../../include/c++/12/bits/max_size_type.h:524:7: in compound statement ('{}')
   Stack dump without symbol names (ensure you have llvm-symbolizer in your PATH or set the environment var LLVM_SYMBOLIZER_PATH to point to it):
   /lib/x86_64-linux-gnu/libLLVM-12.so.1(_ZN4llvm3sys15PrintStackTraceERNS_11raw_ostreamEi+0x31)[0x7183a65732a1]
   /lib/x86_64-linux-gnu/libLLVM-12.so.1(_ZN4llvm3sys17RunSignalHandlersEv+0x50)[0x7183a65713d0]
   /lib/x86_64-linux-gnu/libLLVM-12.so.1(_ZN4llvm3sys15CleanupOnSignalEm+0xfb)[0x7183a657292b]
   /lib/x86_64-linux-gnu/libLLVM-12.so.1(+0xcc17f5)[0x7183a64c17f5]
   /lib/x86_64-linux-gnu/libc.so.6(+0x42520)[0x7183a5042520]
   clang: error: clang frontend command failed with exit code 139 (use -v to see invocation)
   Ubuntu clang version 12.0.1-19ubuntu3
   Target: x86_64-pc-linux-gnu
   Thread model: posix
   InstalledDir: /usr/bin
   clang: note: diagnostic msg:

---

PLEASE ATTACH THE FOLLOWING FILES TO THE BUG REPORT:
Preprocessed source(s) and associated run script(s) are located at:
clang: note: diagnostic msg: /tmp/status_payload_printer-73ccab.cpp
clang: note: diagnostic msg: /tmp/status_payload_printer-73ccab.sh
clang: note: diagnostic msg:

---

[176/3094] Building CXX object _deps/abseil-cpp-build/absl/strings/CMakeFiles/cord.dir/cord.cc.o
ninja: build stopped: subcommand failed.